해양 환경에서 무인수상정 - 수중자율이동체 간 최적 도킹 경로

Abstract

This study analyzes the docking success rates between Unmanned Surface Vehicles (USVs) and Autonomous Underwater Vehicles (AUVs) under various marine conditions. It aims to determine the optimal docking direction and generate stable docking paths based on the dynamic characteristics of the vehicles. The docking direction is determined using final probability, weighted probability, and Continuous Ranked Probability Score (CRPS) to calculate docking success rates. Simulation results showed that the highest success rates occurred when currents and winds acted in different lateral directions, with the USV alignment playing a key role in stable docking. The proposed path generation algorithm was verified through a pre-experiment with the USV docked at a berth. Future work will validate the algorithm's performance through real-world marine experiments and evaluate the simulator’s effectiveness using field data.