Ha-Yun Kim, Myung-Il Roh, Hye-Won Lee, In-Chang Yeo, Yeong-Min Jo, Jisang Ha, Nam-Sun Son, “A Hybrid Tracking Method for Maritime Obstacles Using Sensor Data”, Ocean Engineering, Vol. 312, Part 2, 2024.09.16
International Journal
2024.09.10 04:13
Ha-Yun Kim, Myung-Il Roh, Hye-Won Lee, In-Chang Yeo, Yeong-Min Jo, Jisang Ha, Nam-Sun Son, “A Hybrid Tracking Method for Maritime Obstacles Using Sensor Data”, Ocean Engineering, Vol. 312, Part 2, 2024.09.16
조회 수 320
| 첨부 '1' |
|---|
| Abstract | Safe navigation of ships depends on the accurate recognition and tracking of nearby maritime obstacles as detected by various sensors. Challenges arise in tracking maritime obstacles from sensor data because of sensor noise and incomplete sensor data. Traditionally, tracking algorithms such as the EKF (Extended Kalman Filter) have been applied to track the state of maritime obstacles, including the position, COG (Course Over Ground), and SOG (Speed Over Ground). This study implemented a combined EKF- and learning-based (hybrid) tracking method. In the EKF-based method, the parameters are related to the uncertainty of the system and the sensor data. These parameters are generally set manually by analyzing the noise of the sensor data and may not be optimal; we optimized the parameters to compensate for this. In the learning-based method, we trained a deep learning model using a DNN (Deep Neural Network) to predict obstacle states from sensor measurement data. We then propose a hybrid tracking method that combines the two tracking methods to compensate for the shortcomings of each method. We verified these three tracking methods using navigation data obtained through field tests. The verification results showed that the learning-based tracking method improved the SOG tracking accuracy by 11.47% compared with the traditional EKF-based tracking method. The tracking accuracy of the hybrid tracking method was reduced by 22.42% for the COG and 42.05% for the SOG. These results indicate that the hybrid tracking method effectively compensates for the limitations of the other methods, resulting in an enhanced tracking performance. |
|---|---|
| Publication Date | 2024-09-16 |
| Role | Corresponding Author |
| Category | SCI |
-
Beom-Soo Kim, Min-Jae Oh, Jae-Hoon Lee, Yonghwan Kim, Myung-Il Roh, "Study on Hull Optimization Process Considering Operational Efficiency in Waves", Processes, Vol. 9, No. 5, pp. 898.1-21, 2021.05.19
-
Do-Hyun Chun, Myung-Il Roh, Hye-Won Lee, "Automation of Crane Control for Block Lifting Based on Deep Reinforcement Learning", Journal of Computational Design and Engineering, Vol. 9, No. 4, pp. 1430- 1448, 2022.07.23
-
Do-Hyun Chun, Myung-Il Roh, Hye-Won Lee, Donghun Yu, "Method for Collision Avoidance Based on Deep Reinforcement Learning with Path-Speed Control for an Autonomous Ship", IJNAOE, Vol. 16, pp. 100579.1-19, 2023.12.22
-
Do-Hyun Chun, Myung-Il Roh, Hye-Won Lee, Jisang Ha, Donghun Yu, “Deep Reinforcement Learning-based Collision Avoidance for an Autonomous Ship”, Ocean Engineering, Vol. 234, pp. 1-20, 2021.08.15
-
Do-Hyun Chun, Myung-Il Roh, In-Chang Yeo, Hye-Won Lee, “Proposed Method for Design Optimization of LNG Tanks Based on the Arrangement of Thermal Insulation Panels”, Ocean Engineering, Vol. 288, Part 2, pp. 116063.1-14, 2023.11.15
-
Do-Hyun Chun, Myung-Il Roh, Seung-Ho Ham, “Optimum Arrangement Design of Mastic Ropes for Membrane-type LNG Tanks Considering the Flatness of Thermal Insulation Panel and Production Cost”, Journal of Marine Science and Engineering, Vol. 8, No. 5
-
Dong-Hoon Jeong, Myung-Il Roh, Seung-Ho Ham, "Lifting Simulation of an Offshore Supply Vessel Considering Various Operating Conditions", Advances in Mechanical Engineering, Vol. 8, No. 6, pp. 1-13, 2016.06.16
-
Dong-Hoon Jeong, Myung-Il Roh, Seung-Ho Ham, Chan-Young Lee, “Performance Analyses of Naval Ships Based on Engineering Level of Simulation at the Initial Design Stage”, IJNAOE, Vol. 9, No. 4, pp. 446-459, 2017.07.01
-
Dong-Hoon Jeong, Myung-Il Roh, Seung-Ho Ham, “Case Study of Detection and Maneuvering Performance of Naval Ships Using Engagement Simulation of Engineering Level”, Ocean Systems Engineering, Vol. 7, No. 3, pp. 247-273, 2017.09.01
-
Dong-Hoon Jeong, Myung-Il Roh, Seung-Ho Ham, "Lifting Off Simulation of an Offshore Supply Vessel Considering Ocean Environmental Loads and Lifting Off Velocity", Ocean Systems Engineering, Vol. 5, No. 3, pp. 181-198, 2015.09.01
-
Dong-Woo Kim, Myung-Il Roh, Do-Hyun Chun, Sun-Hong Woo, Yong-Tai Kim, “A Method for the Profile Optimization of the Primary Barrier of a Membrane-type LNG Tank Using Surrogate Modeling”, accepted for publication in Ocean Engineering, 2024.12.06
-
Donghun Yu, Myung-Il Roh, “Method for Anti-collision Path Planning Using Velocity Obstacle and A* Algorithms for a Maritime Autonomous Surface Ship”, International Journal of Naval Architecture and Ocean Engineering, Vol. 16, 2024.02.02
-
Ha-Yun Kim, Myung-Il Roh, Hye-Won Lee, In-Chang Yeo, Yeong-Min Jo, Jisang Ha, Nam-Sun Son, “A Hybrid Tracking Method for Maritime Obstacles Using Sensor Data”, Ocean Engineering, Vol. 312, Part 2, 2024.09.16
-
Hye-Won Lee, Joo-Hyun Woo, Myung-Il Roh, Seung-Ho Ham, et al., "Integrated Simulation of Virtual Prototypes and Control Algorithms of Unmanned Surface Vehicles Based on a Robot Operating System", Journal of Marine Science and Technology (Taiwan)
-
Hye-Won Lee, Myung-Il Roh, "Review of the Multibody Dynamics in the Applications of Ships and Offshore Structures", Ocean Engineering, Vol. 167, pp. 65-76, 2018.11.01
-
Hye-Won Lee, Myung-Il Roh, Ki-Su Kim, “Ship Route Planning in Arctic Ocean Based on POLARIS”, Ocean Engineering, Vol. 234, pp. 109297.1-14, 2021.08.15
-
Hye-Won Lee, Myung-Il Roh, Seung-Ho Ham, "Block Turnover Simulation Considering the Interferences between the Block and Wire Ropes in Shipbuilding", Automation in Construction, Vol. 67, pp. 60-75, 2016.07.01
-
Hye-Won Lee, Myung-Il Roh, Seung-Ho Ham, "Block Erection Simulation Considering Frictional Contact with Wire Ropes", Ocean Engineering, Vol. 217, pp. 1-24, 2020.12.01
-
Hye-Won Lee, Myung-Il Roh, Seung-Ho Ham, "Underactuated Crane Control for the Automation of Block Erection in Shipbuilding", Automation in Construction, Vol. 124, pp. 1-28, 2021.04.01
-
Hye-Won Lee, Myung-Il Roh, Seung-Ho Ham, Nam-Kug Ku, "Coupled Analysis Method of a Mooring System and a Floating Crane Based on Flexible Multibody Dynamics Considering Contact with the Seabed", Ocean Engineering, Vol. 163, pp. 555-569, 2018.09.01
