Search

KR-102962539-B1 - METHOD FOR GENERATING SEARCH PATH, DEVICE AND PROGRAM USING THE SAME

KR102962539B1KR 102962539 B1KR102962539 B1KR 102962539B1KR-102962539-B1

Abstract

A search path generation method according to an embodiment of the present invention comprises the steps of: dividing a search target area to generate a plurality of divided areas based on a predicted probability distribution regarding a search target area in which a single mobile exploration vehicle will search for a seabed target; the search path generation device selecting a path template corresponding to each of the generated plurality of divided areas from among a plurality of path templates; and the search path generation device optimizing the parameters of the path template based on a detection probability distribution and a target detection probability for detecting the seabed target in each of the plurality of divided areas.

Inventors

  • 조용훈
  • 정철민
  • 유찬우

Assignees

  • 국방과학연구소

Dates

Publication Date
20260507
Application Date
20250206

Claims (20)

  1. A search path generation device, based on a predicted probability distribution regarding a search target area in which a single mobile exploration vehicle will search for a seabed target, divides the search target area to generate a plurality of divided areas; The above search path generation device selects a path template corresponding to each of the generated plurality of divided regions from among a plurality of path templates; and The search path generation device includes the step of optimizing the parameters of the path template based on the detection probability distribution and target detection probability for detecting the seabed target in each of the plurality of segmented regions. The step of generating the above plurality of divided regions is, The above-described search path generating device calculates the detection probability distribution based on the bottom quality information and depth information for the search target area, and the search depth and measured distance of the mobile probe; The above-described search path generating device defines the above-described prediction probability distribution with the measured distance of the moving probe as a variable based on the above-described detection probability distribution; The search path generating device calculates the minimum number of searches required for each unit area within the search target area based on the target search probability and the calculated predicted probability distribution; and A search path generation method comprising the step of the search path generation device dividing the search target area to generate the plurality of divided areas based on the minimum number of searches required for each of the unit areas within the calculated search target area.
  2. delete
  3. In paragraph 1, The step of defining the above-mentioned prediction probability distribution is, A search path generation method that defines the above-mentioned prediction probability distribution based on the following (Equation 1). (Formula 1) (The above EPOD is the predicted probability distribution, the above POD is the detection probability distribution, and the above r is the measured distance)
  4. In paragraph 1, The step of calculating the minimum number of searches required above is, A search path generation method that calculates the minimum number of searches required for each of the above unit regions based on the following (Equation 2). (Equation 2) (The above ns is the minimum number of searches required in each of the unit regions, and the above tPod is the target search probability)
  5. In paragraph 1, The step of generating the above plurality of divided regions is, A method for generating a search path by dividing the search target area based on the following (Equation 4) and (Equation 5) to generate the plurality of divided areas. (Equation 4) (Equation 5) (The above i is the identification number of the above mobile exploration vehicle, the above is the k-th segmented area among the search target areas of the mobile probe of identification number i, the The above in the k-th partitioned region The average value of, where j is the identification number of the unit areas included in the k-th segment area of the search target area of the mobile probe of identification number i)
  6. In paragraph 5, The step of generating the above plurality of divided regions is, A search path generation method comprising the step of merging at least two of the generated plurality of divided regions.
  7. In paragraph 6, The step of merging at least some of the plurality of divided regions generated above is, A search path generation method that merges a partition area among the above multiple partition areas, wherein the average value of the minimum number of searches required within the area is smaller than a reference value, with a partition area adjacent to the partition area.
  8. In paragraph 1, The above plurality of path templates are, A method for generating a navigation path, comprising a unidirectional navigation template and an orthogonal navigation template.
  9. In paragraph 8, The above single-direction navigation template is, A search path generation method comprising a vertical movement pattern and a horizontal movement pattern that are repeated alternately, wherein the horizontal movement pattern is a pattern of moving in a single direction with respect to a first axis.
  10. In Paragraph 9, The above orthogonal direction search template is, A method for generating a search path, comprising a first search pattern including a vertical movement pattern and a horizontal movement pattern that are alternately repeated, and a second search pattern including a horizontal movement pattern and a vertical movement pattern that are alternately repeated after changing direction in a direction perpendicular to the last movement pattern of the first search pattern.
  11. In Paragraph 10, The step of selecting the above path template is, A method for generating a search path, which selects a path template based on the type of mobile exploration body and the aspect ratio of a segmented area corresponding to the selected path template.
  12. In Paragraph 11, The step of selecting the above path template is, A method for generating a search path that selects different path templates depending on whether the type of the above-mentioned mobile exploration vehicle is an unmanned submersible or an unmanned surface vessel.
  13. In Paragraph 12, The step of selecting the above path template is, If the aspect ratio of the corresponding divided area is included within the standard range, select the single-direction search template, and A method for generating a search path, wherein the aspect ratio of the corresponding divided area falls outside the reference range, and the orthogonal direction search template is selected.
  14. In Paragraph 13, The step of optimizing the parameters of the above path template is, A search path generation method that optimizes the parameters of the path template to satisfy different objective functions according to the result of comparing the mean value of the detection probability distribution in each of the plurality of segmented regions with the target detection probability value, and the result of comparing the minimum detection probability value in each of the plurality of segmented regions with the target minimum detection probability value.
  15. In Paragraph 14, If the average value of the detection probability distribution for detecting the above-mentioned seabed target is smaller than the target detection probability value, the objective function is set based on the average value of the detection probability distribution, and If the average value of the detection probability distribution for detecting the above-mentioned seabed target is equal to or greater than the target detection probability value, and the minimum detection probability value in each of the plurality of segmented regions is smaller than the target minimum detection probability value, the objective function is set based on the target detection probability value, and A method for generating a search path, wherein the average value of the detection probability distribution for detecting the above-mentioned seabed target is equal to or greater than the target detection probability value, and the minimum detection probability value in each of the above-mentioned multiple segmented regions is equal to or greater than the target minimum detection probability value, and the objective function is set based on the average value of the detection probability distribution, the number of movement patterns of the path template, and the auxiliary search interval among the intervals of the movement patterns of the path template.
  16. In paragraph 15, The parameters of the above path template are, A method for generating a search path, comprising a main search interval and an auxiliary search interval among the intervals of the movement patterns of the path template, and the number of movement patterns of the path template.
  17. In Paragraph 16, Different intervals are alternately repeated between the vertical movement patterns or horizontal movement patterns of the above path template, and The above main search interval corresponds to a relatively wide interval among the above alternating intervals, and A search path generation method in which the above auxiliary search interval corresponds to a relatively narrow interval among the above alternately repeated intervals.
  18. In Paragraph 17, The step of optimizing the parameters of the above path template is, A search path generation method that optimizes the parameters of the path template using the sum of the main search interval and the auxiliary search interval, and the auxiliary search interval as the optimization target variable.
  19. A region divider that generates a plurality of divided regions by dividing the search target area based on a predicted probability distribution regarding the search target area where a single mobile exploration vehicle will perform search for a seabed target; A path template selector that selects a path template corresponding to each of the generated plurality of divided regions from among a plurality of path templates; and A parameter optimizer that optimizes the parameters of the path template based on the detection probability distribution and target detection probability for detecting the seabed target in each of the plurality of segmented regions, The above-mentioned area divider is, A search path generation device that calculates a detection probability distribution based on the quality information and depth information of the search target area and the search depth and measurement distance of the mobile probe, defines a prediction probability distribution with the measurement distance of the mobile probe as a variable based on the detection probability distribution, calculates the minimum number of searches required for each unit area within the search target area based on the target search probability and the calculated prediction probability distribution, and divides the search target area to generate the plurality of divided areas based on the calculated minimum number of searches required for each unit area within the search target area.
  20. A program stored on a computer-readable storage medium for performing a search path generation method combined with a processor, A step of creating a plurality of divided regions by dividing the search target area based on a predicted probability distribution regarding the search target area in which a single mobile exploration vehicle will search for a seabed target; A step of selecting a path template corresponding to each of the generated plurality of divided regions from among a plurality of path templates; and Program code that performs the step of optimizing the parameters of the path template based on the detection probability distribution and target detection probability for detecting the seabed target in each of the plurality of segmented regions, The step of generating the above plurality of divided regions is, A step of calculating the detection probability distribution based on sediment quality information and depth information for the above-mentioned search target area, and the search depth and measured distance of the above-mentioned mobile probe; A step of defining the prediction probability distribution with the measured distance of the moving probe as a variable based on the detection probability distribution above; A step of calculating the minimum number of searches required for each unit area within the search target area based on the target search probability and the calculated predicted probability distribution; and A program stored on a computer-readable storage medium, comprising the step of dividing the search target area to generate the plurality of divided areas based on the minimum number of searches required for each of the unit areas within the calculated search target area.

Description

Method for generating search path, device and program using the same The present invention relates to a method for generating a search path, and to an apparatus and program using the same. More specifically, it relates to a method for generating a search path capable of dividing a search target area, selecting a path template corresponding to each of the divided areas, and optimizing parameters of the selected path template based on a detection probability distribution for detecting a seabed target and a target detection probability, and to an apparatus and program using the same. Underwater mines are weapon systems that offer excellent effectiveness relative to the effort required for deployment. Countering underwater mines is a mission where effectiveness is expected to be maximized through the application of unmanned systems, as it involves significant consumption of time, manpower, and costs. In particular, since mine warfare is conducted in stages—detection, classification, identification, and neutralization—the development of unmanned and remotely operated response systems and software suitable for each stage is underway. A brief description of each drawing is provided to help to better understand the drawings cited in the detailed description of the invention. FIG. 1 is a block diagram of a search path generation device according to one embodiment of the present invention. FIG. 2 is a flowchart according to one embodiment of a search path generation method performed by the search path generation device of FIG. 1. Figure 3 is an example diagram showing the search target area and the initial position of the moving probe. Figure 4 is a diagram showing an example of depth information regarding the search target area. Figure 5 is a diagram showing an example of low-quality information regarding the search target area. FIG. 6 is a diagram showing an example of the detection probability distribution of a seabed target calculated for a search target area. Figure 7 is a diagram illustrating an example of a prediction probability distribution defined based on the detection probability distribution of Figure 6. Figure 8 is a diagram illustrating the relationship between the search target area and the unit areas. Figure 9 is a diagram illustrating an example of the minimum number of searches required calculated based on the predicted probability distribution of Figure 7. FIG. 10 is a drawing showing an example of divided regions created according to an embodiment of the present invention. FIGS. 11 to 13 are drawings illustrating examples of path templates according to embodiments of the present invention. FIG. 14 is a drawing showing an example of a search path generated according to an embodiment of the present invention. The technical concept of the present invention is subject to various modifications and may have various embodiments, and specific embodiments are illustrated in the drawings and described in detail. However, this is not intended to limit the technical concept of the present invention to specific embodiments, and it should be understood that it includes all modifications, equivalents, and substitutions that fall within the scope of the technical concept of the present invention. In describing the technical concept of the present invention, detailed descriptions of related prior art are omitted if it is determined that such descriptions may unnecessarily obscure the essence of the invention. Furthermore, numbers used in the description of this specification (e.g., First, Second, etc.) are merely identification symbols to distinguish one component from another. In addition, when a component is described in this specification as being "connected" or "connected" to another component, it should be understood that the component may be directly connected to or directly connected to the other component, but unless otherwise specifically stated, it may also be connected or connected through another component in between. In addition, terms such as “~part,” “~device,” “~device,” and “~module” described in this specification refer to a unit that processes at least one function or operation, and may be implemented as hardware or software or a combination of hardware and software such as a processor, microprocessor, microcontroller, CPU (Central Processing Unit), GPU (Graphics Processing Unit), APU (Accelerate Processor Unit), DSP (Drive Signal Processor), ASIC (Application Specific Integrated Circuit), and FPGA (Field Programmable Gate Array), and may also be implemented in a form combined with memory that stores data necessary for processing at least one function or operation. Furthermore, it is intended to clarify that the classification of components in this specification is merely based on the primary function each component is responsible for. That is, two or more components described below may be combined into a single component, or a single component may be divided into two or more components based o