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표제지 2

목차 5

Abstract 10

Ⅰ. 서론 11

1.1. 연구 배경 11

1.2. 자동 접안 시스템 플랫폼 12

1.3. 접안 위치 인식 13

1.4. 연구 목표 및 내용 14

Ⅱ. 자동 접안 시스템 플랫폼 구성 15

2.1. 모형선 제원 15

2.2. 모형선 하드웨어 및 소프트웨어 16

2.3. 인공항만 구성 20

2.4. 실내위치 계측시스템 22

Ⅲ. ArUco 마커 기반 모형선 상태 추정 26

3.1. ArUco 마커 인식 26

3.2. ArUco 마커 추적 30

Ⅳ. 자동 접안 유도 및 제어 알고리즘 34

4.1. 접안 유도 34

4.2. 접안 제어 알고리즘 36

4.2.1. Phase 1 36

4.2.2. Phase 2 37

4.2.3. Phase 3 39

Ⅴ. 자동 접안 시스템 플랫폼 테스트 및 검증 40

Ⅵ. 결론 45

참고문헌 46

부록 49

표목차 7

Table 2.1. Principal dimensions of model ship 15

Table 2.2. Loading equipment of the model ship 19

Table 2.3. Development enviroment 19

Table 3.1. PD coefficients for camera servo motor 32

그림목차 8

Figure 2.1. Model ship 15

Figure 2.2. System diagram of model ship 18

Figure 2.3. Changwon national university ship and marine basin... 20

Figure 2.4. (a) Busan port access scenario (b) Berthing scenario in an... 21

Figure 2.5. LiDAR area of interest 22

Figure 2.6. Comparative position data between LiDAR and towing tank 23

Figure 2.7. Comparative velocity data between LiDAR and towing tank 24

Figure 3.1. ArUco marker and detect matrix 27

Figure 3.2. ArUco marker bounding box 28

Figure 3.3. ArUco marker axes 29

Figure 3.4. Servo motor control module 30

Figure 3.5. Marker tracking progress 31

Figure 3.6. Graph of optimal coefficient 33

Figure 4.1. Coordinate system 34

Figure 4.2. ROS Rviz visualization, Camera sight 35

Figure 4.3. ArUco marker coordinate system 37

Figure 5.1. Automatic berthing test 40

Figure 5.2. Test 3 visualization 40

Figure 5.3. Trajectory of berthing 41

Figure 5.4. Time required for berthing 42

Figure 5.5. Accuracy of berthing 43

Figure 7.1. Test 1 visualization 49

Figure 7.2. Test 2 visualization 49

Figure 7.3. Test 4 visualization 50

Figure 7.4. Test 5 visualization 50

초록보기

 This study uses a mono hull model ship as the basis to design and investigate an automatic berthing system for an autonomous ship. The operation of the autonomous ship incorporates an integrated automated berthing system comprising cameras, IMUs, processors, batteries, and thruster systems. Due to the impracticality ofindoor experiments for GPS-based location measurement, this study utilized 2-dimensional light detection and ranging (2D LiDAR) to determine the position of the model ship. Accurate determination of the model ship's position was achieved by configuring a polygonal measurement range for the LiDAR and attaching a cylindrical accessory to the model ship. The experiments were conducted in three phases. First, the model ship navigated to and approached the quay. Second, the model ship and the quay aligned parallelly upon the camera detecting the ArUco marker. Lastly, the berthing quay of the model ship at the quay was determined based on the distance and angle data extracted from the recognized ArUco marker. However, the fixed camera frequently failed to capture the marker during the approach phase. Therefore, this study developed a marker search/tracking algorithm and implemented it by incorporating a two-axis driving unit into the camera. The inclusion of this driving unit enhanced the stability of ArUco marker recognition. Moreover, a model ship equipped with an autonomous navigation system confirmed the feasibility of an autonomous entry and berthing of a ship at a port.

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