Path Planning System of Unmanned Surface Vehicle for Autonomous Tracking of Underwater Acoustic Target

摘要

The unmanned aerial route creation system of the present invention includes a long distance route planning unit for performing a route planning to comply with the international maritime collision prevention rules by reflecting decisions made by the autonomous manager unit on the remote obstacles; near-collisional skin that does not comply with international maritime conflict prevention rules or performs near obstacle avoidance for emergency obstacles missed by radar; (COLREGs) -based long-range path planning function by performing autonomous tracking of underwater acoustic targets detected by the sonar detection unit, a function of ignoring the international maritime collision prevention rule, or the emergency obstacle disappearing from the radar LADAR based near collision avoidance function and autonomous tracking function of detected underwater sound.