Park, Jeonghong (KRISO (KOREA Research Institute of Ships and Ocean Engineering)), Kang, Minju (Korea Research Institute of Ships & Ocean Engineering), Choo, Ki-Beom (Korea Research Institute of Ships & Ocean Engineering (KRISO)), Choi, Hyun Taek (Korea Research Insitute of Ships and Ocean Engineering), CHOI, JINWOO (KRISO)

Preliminary Sea Trials of a Multi-Sensor Based Intelligent Situational Awareness System for Maritime Autonomous Surface Ships

Scheduled for presentation during the Regular Session "Automotive, flying and maritime systems" (FrBT1), Friday, July 18, 2025, 14:40−15:00, Room 105

Joint 10th IFAC Symposium on Mechatronic Systems and 14th Symposium on Robotics, July 15-18, 2025, Paris, France

This information is tentative and subject to change. Compiled on August 2, 2025

Abstract

This study presents the development of an intelligent situational awareness system (iSAS) specifically designed for the autonomous navigation of maritime autonomous surface ships (MASS) in marine environments. The iSAS employs a sensor fusion-based multimodal framework that integrates cameras, a lidar, and a radar to enable the seamless and reliable detection and identification of various maritime objects. To account for the unique characteristics of each sensor, specialized detection approaches were developed and implemented, facilitating rapid and accurate object detection. Subsequently, an Extended Kalman Filter (EKF) tracking technique was employed to estimate the motion information of the detected objects, including position, course, and speed. Considering the inherent uncertainties associated with the estimated motion information, a potential collision risk assessment along the predicted trajectory of the MASS was conducted. The developed iSAS was installed on the Haeyangnuri-ho, a testbed ship, and validated through preliminary sea trials. These trials demonstrated the practical feasibility of the system, with the results validating its operational performance.