무인잠수정의 평면운동을 고려한 고정 장애물과의 충돌 확률 평가

Abstract

This study presents a probabilistic evaluation of collision risk between a static obstacle and a remotely operated vehicle (ROV) considering a planar motion in underwater environments. For efficient computation of the collision risk, the safe separation zone for the ROV is defined as a circular cylinder. In addition, the position uncertainties in the horizontal plane for the vehicle and the obstacle are defined as multivariate Gaussian distributions and the position uncertainties in the vertical direction are represented as uniform distributions, respectively. The collision probability is then evaluated by multiplying the horizontal and the vertical collision probabilities. The feasibility of the proposed approach was validated through a numerical simulation.