https://www.kriso.re.kr/sciwatch/handle/2021.sw.kriso/9823 2026-02-27T11:24:09Z https://www.kriso.re.kr/sciwatch/handle/2021.sw.kriso/11232 https://www.kriso.re.kr/sciwatch/handle/2021.sw.kriso/10526 Title: Comparison of Collision Avoidance Algorithms for Unmanned Surface Vehicle Through Free-Running Test: Collision Risk Index, Artificial Potential Field, and Safety Zone Authors: Kim, Jung-Hyeon; Jo, Hyun-Jae; Kim, Su-Rim; Choi, Si-Woong; Park, Jong-Yong; Kim, Nakwan Abstract: This paper details the development of a collision avoidance algorithm for unmanned surface vehicles (USVs) and its validation using free-running tests. The USV, designed as a catamaran, incorporates a variety of sensors for its guidance, navigation, and control system. It performs turning maneuvers using thrusters positioned on the port and starboard sides. The robot operating system is used to streamline communication, transmitting data such as position, orientation, and situational information from diverse sensors. Using the collision risk index (CRI) method, the algorithm calculates risk based on the distance to obstacles and the angle to the desired waypoint, directing the USV on a path with minimized risk. Noise within the data captured by the two-dimensional light detection and ranging system is filtered out using the k-dimensional tree and Euclidean distance methods, ensuring single obstacles are distinctly identified. To assess the efficacy of the CRI-based collision avoidance algorithm, it was benchmarked against other algorithms rooted in the artificial potential field and safety zone methods within an artificial tank setting. The results highlight the CRI method's superior time efficiency and optimality in comparison to its counterparts. 2024-12-01T00:00:00Z https://www.kriso.re.kr/sciwatch/handle/2021.sw.kriso/10556 Title: A Study on the Regulatory Framework for Operational Safety & Suitability Evaluation of MASS Authors: 천관욱; 임승현; 조현재; 이현균; 임근태 Abstract: The 'Korea Autonomous Surface Ship' project has been underway from 2020 to 2025, featuring active demonstrations of key maritime technologies. In response, the 'Act on the Development and Commercialization of Autonomous Ships' will take effect on January 3, 2025, establishing a regulatory framework to support the advancement of autonomous vessels. As these developments progress, there is a growing need for operational environment information that is specifically tailored to the perception and utilization of autonomous ships, ensuring their safe and efficient operation in maritime settings. This study examines the legal and regulatory framework related to the development of 'Operational Safety and Suitability Evaluation Technology for Autonomous Ships' and proposes potential improvements for the Operational Safety and Suitability Evaluation of Maritime Autonomous Surface Ships (MASS). 2024-10-01T00:00:00Z https://www.kriso.re.kr/sciwatch/handle/2021.sw.kriso/10410 Title: Global Path Planning for Autonomous Ship Navigation Considering the Practical Characteristics of the Port of Ulsan Authors: Yun, Sang-Woong; Kim, Dong-Ham; Kim Se-Won; Kim, Dong Jin; Kim, Hye Jin Abstract: This study introduces global path planning for autonomous ships in port environments, with a focus on the Port of Ulsan, where various environmental factors are modeled for analysis. Global path planning is considered to take place from departure to berth, specifically accounting for scenarios involving a need to navigate via anchorage areas as waypoints due to unexpected increases in port traffic or when direct access to the berth is obstructed. In this study, a navigable grid for autonomous ships was constructed using land, breakwater, and water depth data. The modeling of the Port of Ulsan’s traffic lanes and anchorage areas reflects the port’s essential maritime characteristics for global path planning. In this study, an improved A* algorithm, along with grid-based path planning, was utilized to determine a global path plan. We used smoothing algorithms to refine the global paths for practical navigation, and the validation of these paths was achieved through conducting ship maneuvering simulations from model tests, which approximate real-world navigation in navigational simulation. This approach lays the groundwork for enhanced route generation studies in complex port environments. 2024-01-01T00:00:00Z