인문학
사회과학
자연과학
공학
의약학
농수해양학
예술체육학
복합학
DBpia AI
AI 에이전트
AI 아이디어
AI 리더
AI 뷰어
Citeasy
크롬 서지관리 다운로드
지원사업
학술연구/단체지원/교육 등 연구자 활동을 지속하도록 DBpia가 지원하고 있어요.
커뮤니티
연구자들이 자신의 연구와 전문성을 널리 알리고, 새로운 협력의 기회를 만들 수 있는 네트워킹 공간이에요.
피인용 0
초록·키워드
This study proposes a three-dimensional multi-robot path-planning framework that enables multiple remotely operated vehicle (ROV)-based work robots to reach designated work points for ship-bottom fishing-net removal simultaneously while avoiding collisions. The motion of the target platform is represented by a finite set of motion primitives covering cruise, acceleration and deceleration, yaw turning, lateral (sway) and vertical (heave) motion, and hovering. A kinematics-constrained extension of Safe Interval Path Planning (SIPP) uses these primitives as low-level state transitions, so that each trajectory satisfies the position, heading, and velocity constraints of the platform while avoiding static structures during its safe time intervals. Continuous Conflict-Based Search (CCBS) then detects inter-robot conflicts in continuous time and resolves them by adding spatiotemporal constraints and replanning for only the affected robot. In three work scenarios built from a ship CAD model, the minimum inter-robot distance remained above the required ROV separation distance of 2.40 m in every case, with a minimum observed value of 2.718 m across all three scenarios, and the detected conflicts were resolved by inserting 7.5 s and 15.0 s of hovering. Furthermore, the proposed path-planning framework was evaluated for its applicability to other underwater robotic platforms beyond ROVs. With only the platform-dependent primitives replaced by those of an autonomous underwater vehicle (AUV) model, 250 simulation runs across five seabed terrains involving 2 to 10 AUVs maintained the required AUV separation distance of 2.668 m, with a minimum observed inter-AUV distance of 2.7031 m, suggesting that the same SIPP-CCBS structure applies to platforms with different motion constraints.
본문·목차
인공지능 문자 인식 모델을 통해 추출된 텍스트로, 일부 오타나 오류가 포함될 수 있으나 지속적으로 개선 중입니다.
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