The Transactions of The Korean Institute of Electrical Engineers (전기학회논문지)

The Korean Institute of Electrical Engineers (대한전기학회)
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Implementation of an Obstacle Avoidance System Based on a Low-cost LiDAR Sensor for Autonomous Navigation of an Unmanned Ship

무인선박의 자율운항을 위한 저가형 LiDAR센서 기반의 장애물 회피 시스템 구현

  • Song, HyunWoo (Dept. of Mechatronics Eng.. Kyungnam University) ;
  • Lee, Kwangkook (Dept. of Naval Architecture and Ocean System Eng., Kyungnam University) ;
  • Kim, Dong Hun (Dept. of Electrical Eng., Kyungnam University)
  • Received : 2018.11.21
  • Accepted : 2019.02.01
  • Published : 2019.03.01
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Abstract

In this paper, we propose an obstacle avoidance system for an unmanned ship to navigate safely in dynamic environments. Also, in this paper, one-dimensional low-cost lidar sensor is used, and a servo motor is used to implement the lidar sensor in a two-dimensional space. The distance and direction of an obstacle are measured through the two-dimensional lidar sensor. The unmanned ship is controlled by the application at a Tablet PC. The user inputs the coordinates of the destination in Google maps. Then the position of the unmanned ship is compared with the position of the destination through GPS and a geomagnetic sensor. If the unmanned ship finds obstacles while moving to its destination, it avoids obstacles through a fuzzy control-based algorithm. The paper shows that the experimental results can effectively construct an obstacle avoidance system for an unmanned ship with a low-cost LiDAR sensor using fuzzy control.

Keywords

Acknowledgement

본 연구는 2017년도 정부(교육과학기술부)의 재원으로 한국연구재단의 지원을 받아 수행된 기초연구사업(NRF-2017R1A2B4011329)이며, 관계부처에 감사드립니다.

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