해양 자율 탐색을 위한 다수 이종 무인시스템의 임무계획

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As the technologies for single unmanned systems have matured to a level of practical applications, the interest of cooperative operation with multiple unmanned systems has been rapidly increasing. This study focuses on developing mission planning algorithms for search and surveillance in a marine environment using multiple heterogeneous unmanned systems composed of unmanned surface vehicles (USVs) and unmanned aerial vehicles (UAVs). The roles and the mission planning architecture are determined considering the specifications and sensing capabilities of the vehicles. In particular, a constraint-based task allocation algorithm is proposed as an essential part of the mission planner and its validity is demonstrated using numerical simulations with various search scenarios.
Publisher
한국해양공학회
Issue Date
2016-11-18
Language
Korean
Citation

한국해양공학회 30주년 기념 학술대회

URI
http://hdl.handle.net/10203/216311
Appears in Collection
ME-Conference Papers(학술회의논문)
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