The present invention relates to an apparatus for avoiding a collision of an unmanned surface vehicle and a method thereof and, more specifically, to an apparatus for avoiding a collision of an unmanned surface vehicle and a method thereof, which can estimate movement information of the unmanned surface vehicle and obstacles through a trace filter based on an extended kalman filter (EKF), evaluate a collision probability in an approximate analytical method using a probability flow concept in accordance with uncertainty of the estimated movement information and a safe boundary area of the unmanned surface vehicle, define an expected collision danger area on a sailing path of the unmanned surface vehicle, generate an avoiding path in accordance with international regulations for preventing collisions at sea and kinematic properties of the unmanned surface vehicle, and allow the unmanned surface vehicle to follow the generated avoiding path.
본 발명은 무인수상선의 충돌 회피 장치 및 방법에 관한 것으로, 특히 확장칼만필터(EKF) 기반의 추적필터를 통해 무인수상선과 장애물의 운동 정보를 추정하고, 추정된 운동 정보의 불확실성 및 무인수상선의 안전 경계 영역을 고려하여 확률 흐름(probability flow) 개념을 이용한 근사-해석적 방법으로 충돌 확률을 평가하고, 무인수상선의 운항 경로 상에 예상되는 충돌 위험 영역을 정의하고, 국제해상충돌예방규칙 및 무인수상선의 운동역학적 특성을 고려한 회피 경로를 생성하며, 무인수상선이 생성된 회피 경로를 추종하게 하는, 무인수상선의 충돌 회피 장치 및 방법에 관한 것이다.
DEVICE AND METHOD AVOIDING COLLISION OF AUTONOMOUS SURFACE VEHICLE CONSIDERING UNCERTAINTY OF TRAJECTORY PREDICTION
무인수상선의 충돌 회피 장치 및 방법
2020-04-13
Patent
Electronic Resource
Korean
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