A method for modeling and controlling an unmanned surface vehicle motion for the autonomous driving of an unmanned surface vehicle and a device thereof according to a desirable embodiment of the present invention may acquire an unmanned surface vehicle (USV) motion model for the autonomous driving of the unmanned surface vehicle in order to control the unmanned surface vehicle based on the unmanned surface vehicle motion model. Therefore, even when physical characteristics of the actual marine environment and the unmanned surface vehicle are different, the range of a control input value can be identified to some extent, thereby shortening the control designing time for the unmanned surface vehicle on site. Consequently, the unmanned surface vehicle motion model and the unmanned surface vehicle control model according to the present invention form the foundation for a surface vehicle mission analysis simulator. The present invention can also guarantee the stability of the operation of the unmanned surface vehicle, and increase working performance in an unmanned marine investigation, an unmanned reconnaissance and the like. To this end, the present invention comprises: a step of acquiring actual navigation data; a step of correcting the actual navigation data; a step of acquiring a motion parameter; a step of acquiring a control parameter; and a step of controlling an unmanned surface vehicle.

    본 발명의 바람직한 실시예에 따른 무인 수상정의 자율 주행을 위한 무인 수상정 운동 모델링 및 제어 방법 및 장치는, 무인 수상정(unmanned surface vehicle, USV)의 자율 주행을 위한 무인 수상정 운동 모델을 획득하고, 무인 수상정 운동 모델을 기반으로 무인 수상정을 제어함으로써, 실제 해상 환경과 무인 수상정의 물리적 특성이 다르더라도 제어 입력 값의 범위를 어느 정도 알수 있으므로, 현장에서의 무인 수상정의 제어 설계 시간을 단축시킬 수 있고, 본 발명에 따른 무인 수상정 운동 모델 및 무인 수상정 제어 모델은 수상정 임무 분석 시뮬레이터의 기초가 되며, 무인 수상정의 운용 안정성 확보 및 무인 해양 조사, 무인 정찰 등의 작업 성능을 높일 수 있다.


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    Title :

    Method and apparatus for modelling motion of unmanned surface vehicle and controlling unmanned surface vehicle for autonomous driving of unmanned surface vehicle


    Additional title:

    무인 수상정의 자율 주행을 위한 무인 수상정 운동 모델링 및 제어 방법 및 장치


    Contributors:
    KU PYUNG MO (author) / RYU JAE KWAN (author) / LEE WON HEE (author)

    Publication date :

    2023-02-23


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Korean


    Classification :

    IPC:    B63B Schiffe oder sonstige Wasserfahrzeuge , SHIPS OR OTHER WATERBORNE VESSELS / G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen



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