According to the present invention, an autonomous navigation system of an unmanned surface vehicle comprises: a first controller outputting a first driving signal by comparing current coordinates and destination coordinates of an unmanned surface vehicle; a second controller outputting a second driving signal by comparing the current coordinates and current target coordinates; a driving signal output unit outputting a third driving signal to control a sailing route of the unmanned surface vehicle by receiving and calculating the first and second driving signals; and a driving unit consisting of a first motor coupled to a left side of the unmanned surface vehicle and a second motor coupled to a right side of the unmanned surface vehicle and controlling the driving of the first and second motors so that the unmanned surface vehicle is sailed in an ideal route to the destination coordinates according to the third driving signal. According to the present invention, if the unmanned surface vehicle does not have a separate sensor and a vector value of tidal current is unknown, the unmanned surface vehicle is sailed in the ideal route to a destination by using a result value obtained through a neural network and controlling rotation speed of the motors of the unmanned surface vehicle.
본 발명에 따른 본 발명에 따른 해양운항체의 자율운항시스템은, 해양운항체의 현재좌표와 목적지좌표를 비교하여 제1구동신호를 출력하는 제1제어기; 상기 현재좌표와 현재목표좌표를 비교하여 제2구동신호를 출력하는 제2제어기; 상기 제1구동신호와 상기 제2구동신호를 입력받아 연산하여 상기 해양운항체의 운항 경로를 제어하는 제3구동신호를 출력하는 구동신호 출력부; 및 상기 해양운항체의 좌측에 결합된 제1모터 및 우측에 결합된 제2모터로 구성되고, 상기 제3구동신호에 따라 상기 해양운항체가 상기 목적지좌표에 이상적 경로로 운항되도록 상기 제1 및 제2모터의 구동을 제어하는 구동부를 포함하는 점에 그 특징이 있다. 본 발명에 따르면, 해양운항체에 별도의 센서가 없어 조류의 벡터값을 알 수 없는 경우에, 신경회로망을 통해 얻은 결과값을 이용하여 상기 해양운항체의 모터 회전속도를 제어하여 목적지까지 이상적 경로로 운항될 수 있다.
An autonomous navigation system of unmanned surface vehicle and method thereof
해양운항체의 자율운항시스템 및 그 방법
2019-08-01
Patent
Electronic Resource
Korean
IPC: | G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen / B63B Schiffe oder sonstige Wasserfahrzeuge , SHIPS OR OTHER WATERBORNE VESSELS / B63H Schiffsantrieb oder Steuerung der Schiffe , MARINE PROPULSION OR STEERING |
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