A Preliminary Study for Development of Digital Twin Ship Technology Using Autonomous Surface Vehicle

摘要

In this study, a fundamental study on the development of digital twin ship technology is presented. To implement digital twin ship technology, it is necessary to develop a simulation model that corresponds to the real system. For this purpose, a small autonomous surface vehicle was developed to simulate the real system, and maneuvering and autonomous navigation tests were conducted to estimate the maneuvering, navigation and control models or simulation models. For the tests, the autonomous surface vehicle was equipped with a navigation system, recognition system, communication system, and propulsion system, and an algorithm with integrated various sensors was implemented and tested using a robot operating system. Through the test, the data of the navigation and control models required for the development of the digital twin ship simulation model were secured. To implement the real navigation environment through a LiDAR point cloud and camera image, a 3D environment was implemented using the iterative closest point algorithm.