Journal of the Korean Society of Marine Environment & Safety (해양환경안전학회지)

The Korean Society of Marine Environment and safety (해양환경안전학회)
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A Study on the Validation of the Collision Avoidance System for Small-size Vessels

소형 선박의 충돌 회피 시스템 검증에 관한 연구

  • Pyun, Jang-Hoon (Korea Maritime Transportation Safety Authority) ;
  • Ryu, Sung-Gon (Korea Maritime Transportation Safety Authority) ;
  • Kim, In-Seob (Smart Safety Research Department, Korea Maritime Transportation Safety Authority)
  • Received : 2021.11.17
  • Accepted : 2021.12.28
  • Published : 2021.12.31
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Abstract

Korea Maritime Safety Tribunal (KMST) statistics released in of 2019 indicated that most collision accidents involving small-size vessels with less than 20 gross-tonnage occur mainly due to operational carelessness, such as forward-looking negligence and unskilled vessel control. As an effective remedy, training and education for vessel operators are being strengthened to prevent accidents. However, collision accidents are increasing, and technical measures are continuously developed to reduce accidents caused by human factors. In this study, an avoidance algorithm and prototype of terminal-controller against collision between two nearby vessels was developed for implementation on relative navigation control by adopting WAVE telecommunication technology. Moreover, several sea trial tests were performed to verify the collision avoidance algorithm and control system using two fishing vessels for dif erent scenarios.

중앙해양안전심판원(2019)에서 발표한 최근 5년의 해양사고통계자료에 따르면 충돌사고의 대부분은 20톤 미만의 어선에서 발생하고 있으며 전방 부주의, 경계 소홀 등의 운항과실로 인한 사고가 주요 원인으로 나타나고 있다. 이러한 사고 방지를 위해 운항자를 대상으로 훈련 및 교육을 강화하고 있지만 충돌사고는 빈번히 발생되고 있으며 충돌 사고를 줄이기 위한 기술적인 방안 또한 지속적으로 개발중에 있다. 본 연구에서는 고속 활주형 소형 선박에 WAVE 통신 기술을 적용하여 선박 간 거리, 속도, 방위에 기반한 조우 상황을 고려하여 충돌 회피 동작이 가능한 제어 알고리즘을 개발하였으며, WAVE 통신-제어기를 결합하여 충돌 회피 시스템을 구축하였다. 그리고 충돌 회피 동작의 검증을 위해 두 소형 선박간의 정면, 추월, 교차의 3가지의 조우 시나리오에 대해서 시뮬레이션을 수행하고 실선 시험을 통해서 충돌 회피 알고리즘을 검증하였다.

Keywords

Acknowledgement

본 논문은 한국해양교통안전공단의 자체연구개발과제인 "통신기반 소형선박 충돌회피 보조시스템 개발"의 연구비 지원을 받아 수행하였습니다.

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