동적인 환경에서 무인수상선을 이용한 적조 예보 및 추적 기법

Abstract

The origin of this thesis comes from the significance of the first stage of a red tide formation. Since the first occurrence in 1982, red tides have been observed annually in Korean coastal waters in the form of harmful Cochlodinium polykrikoides blooms. The development process of the blooms is triggered by the initiation stage and is followed by an expansion into the nearby sea. It is important to know the reason for the commencement of the blooming as well as a damage control plan for each year. The distinction in the proposed method for red tide monitoring is the focus on the narrow stripe red tide at an early stage to allow advanced actions. Although red tide sensing may seem elementary compared to vision processing or vehicle control, navigation in a red tide diffusion field is still not well understood. In order to track narrow stripe HAB (Harmful Algae Broom), the unknown search area needs to be divided into a grid to form a probability map. The red tide tracking algorithm is based on the red tide prolity map and the tracking & recovering path planner. Inputs to the algorithm include the measured flow velocities and the detection or non-detection state at each robot location. Furthermore, a USV (Unmanned Surface Vehicle) model is added to evaluate the effectiveness of the algorithm. This novel approach for red tide monitoring may lead to a major breakthrough in the field of environmental surveillance.