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Abstract USV (Unmanned Surface Vehicle) are being used widely in scientific and military issues since it has the advantages of resistant, stable, and highly maneuverable ability. It is a necessity to be able to automatically perform control missions including marine surveillance, path following, multi-vehicle cooperation and so on. Before the actual control operation is performed, it is significant to verify the control algorithms through various tests prior to its final installation. The Hardware-In-the-Loop Simulation (HILS) concept can be used as an effective method to test a control system. In this study, we have constructed two scenarios including the mine detection and path following based on HILS for the USV. To do so, a virtual prototype of USV was formulated, then, a controller with the control algorithm was implemented on real hardware, next, an integrated simulation interface was implement based on ROS (Robot Operating System). As a result, it can be seen that the virtual prototype can be effectively used to verify the control algorithm for USV.
Publication Date 2017-11-23

Luman Zhao, Myung-Il Roh, Hye-Won Lee, "Control Design for an Unmanned Surface Vessel Based on Hardware-In-the-Loop Simulation", Proceedings of SUTTC(The Society for Underwater Technology Technical Conference) 2017, Haikou, China, 2017.11.23-24


List of Articles
번호 분류 제목 Publication Date
226 International Conference Min-Jae Oh, Myung-Il Roh, "Hull Form Surface Generation Using T-Spline", Proceedings of the 31st Asian-Pacific TEAM 2017, Osaka, Japan, 2017.09.25-28 file 2017-09-25
225 International Conference Hye-Won Lee, Myung-Il Roh, Seung-Ho Ham, "Toward Advanced Mooring Analysis of a Floating Crane Based on Flexible Multibody Dynamics", Proceedings of SUTTC(The Society for Underwater Technology Technical Conference) 2017, Haikou, China, 2017.11.23-24 file 2017-11-23
» International Conference Luman Zhao, Myung-Il Roh, Hye-Won Lee, "Control Design for an Unmanned Surface Vessel Based on Hardware-In-the-Loop Simulation", Proceedings of SUTTC(The Society for Underwater Technology Technical Conference) 2017, Haikou, China, 2017.11.23-24 file 2017-11-23
223 International Conference Sung-Woo Park, Myung-Il Roh, Seong-Hoon Kim, Min-Jae Oh, "Material Requirements Planning of Offshore Structures Using Big Data Frameworks", Proceedings of ISCDE 2017, Ho Chi Minh, Vietnam, pp. 1-2, 2017.12.13-16 file 2017-12-15
222 International Conference Jisang Ha, Myung-Il Roh, Sung-Jun Lee, Ki-Su Kim, Seung-Min Lee, "Toward Rapid Analysis Using Surrogate Model by Deep Learning and Application to Ship Flooding Analysis", Proceedings of ISCDE 2017, Ho Chi Minh, Vietnam, pp. 1-2, 2017.12.13-16 file 2017-12-15
221 Domestic Conference 함승호, 노명일, 이성준, 조로만, 이주필, "조선 해양 분야에서의 물리 기반 해석과 가상 현실의 통합 시뮬레이션 기술 개발 및 적용", 2017년도 조선해양생산연구회 추계학술발표회, 부산, 2017.10.19-20 file 2017-10-19
220 Domestic Conference 노명일, 조상래, 정준모, 김영제, 변정우, "손상 함정의 침수 해석 기반 복원성 평가 방법", 2017년도 함정기술무기체계 세미나, 부산, 2017.10.26-27 file 2017-10-27
219 International Conference Seung-Ho Ham, Myung-Il Roh, Hye-Won Lee, "Physics-based Simulation and Its Applications for Design, Production, and Installation of Ships and Offshore Structures", Proceedings of SUTTC 2017, Haikou, China, pp. 1, 2017.11.23-24 file 2017-11-24
218 Domestic Conference 박성우, 노명일, 오민재, 김성훈, "빅데이터 기술을 이용한 자재 연관성 평가를 위한 연구", 2017년도 해양플랜트설계연구회 추계워크샵, 목포, 2017.11.16-17 file 2017-11-16
217 Conference Chairman 설계 및 법규 (A1), 2017년도 대한조선학회 추계학술발표회, 여수, 2017.11.02-03 2017-11-02
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