제어로봇시스템학회논문지 (Journal of Institute of Control, Robotics and Systems)

  • 제19권5호
  • /
  • Pages.442-449
  • /
  • 2013
  • /
  • 1976-5622(pISSN)
  • /
  • 2233-4335(eISSN)
제어로봇시스템학회 (Institute of Control, Robotics and Systems)
권호 표지
DOI QR코드

DOI QR Code

X-Plane 및 MATLAB/Simulink 기반의 복수무인기 모의실험 시스템 개발

Implementation of a X-Plane and MATLAB/Simulink based Simulation System for Multiple UAVs

  • 문상우 (공군사관학교 항공우주기계공학과) ;
  • 오은미 (한국항공우주연구원 교통항법기술연구센터) ;
  • 유동일 (KAIST 항공우주공학과) ;
  • 심현철 (KAIST 항공우주공학과)
  • Moon, Sangwoo (Department of Aerospace and Mechanical Engineering, Korea Air Force Academy) ;
  • Oh, Eun-Mi (CNS/ATM & Satellite Navigation Research Center, Korea Aerospace Research Institute) ;
  • You, Dong-Il (Department of Aerospace Engineering, KAIST) ;
  • Shim, David Hyunchul (Department of Aerospace Engineering, KAIST)
  • 투고 : 2013.02.20
  • 심사 : 2013.03.15
  • 발행 : 2013.05.01
PDF 다운로드
⟨ 이전 논문 다음 논문 ⟩

초록

In this paper, a simulation system based on X-Plane and MATLAB/Simulink for multiple UAVs is presented. For the conceptual design of this proposed system, a hierarchical system architecture for multiple UAVs is presented. This architecture has object-oriented data structure which consists of three objects (UAV status, mission and task, and environment) and a hierarchy consisting of four layers (decision making layer, task assignment layer, path and motion planning layer, and collision avoidance layer) is also proposed. In addition, this paper shows a implementation of simulation system based on the proposed system architecture using X-Plane and MATLAB/Simulink. The result of simulation from the developed system in this paper validate capability of application for multiple UAVs in real environment.

키워드

참고문헌

  1. Office of the Secretary of Defense, "Unmanned Aircraft Systems (UAS) Roadmap 2005-2030," U.S., Report, 2005.
  2. T. Schouwenaars, B. D. Moor, E. Feron, and J. How, "MIixed integer programming for multi-vehicle path planning," Proc. of European Control Conference 2001, Porto, Portugal, pp. 2603-2608, Sep. 2001.
  3. A. Richards, Y. Kuwata, and J. How, "Experimental demonstrations of real-time MILP control," Proc. of AIAA Guidance, Navigation, and Control Conference and Exhibit 2003, Austin, U.S., 2003.
  4. P. B. Sujit, A. Sinha, and D. Ghose, "Team, game, and negotiation based intelligent autonomous UAV task allocation for wide area applications," Studies in Computational Intelligence, vol. 70, pp. 39-75, 2007. https://doi.org/10.1007/978-3-540-72696-8_3
  5. A. Viguria, I. Maza, and A. Ollero, "Distributed service-based cooperation in aerial/ground robot teams applied to fire detection and extinguishing missions," Advanced Robotics, vol. 24, pp. 1-23, 2010. https://doi.org/10.1163/016918609X12585524300339
  6. L. Pimenta, N. Michael, R. C. Mesquita, G. Pereira, and V. Kumar, "Control of swarms based on hydrodynamics models," Proc. of International Conf. on Robotics and Automation, Pasadena, U.S., pp. 1948-1953, May 2008.
  7. P. Cheng and V. Kumar, "A almost communication-less approach to task allocation for multiple unmanned aerial vehicles," Proc. of International Conf. on Robotics and Automation, Pasadena, U.S., pp. 1384-1389, May 2008.
  8. R. T. Vaughan, "Stage: a multiple robot simulator," University of Southern California, U.S., Report, 2000.
  9. A. Goktogan, E. Nettleton, M. Ridley, and S. Sukkarieh, "Real time Multi-UAV simulator," Proc. of International Conference on Robotics and Automation, vol. 2, pp. 2720-2726, Taipei, Taiwan, Sep. 2003.
  10. S. Kim, S. Cho, S. B. Cho, and C. B. Park, "Development of operation network system and processor in the loop simulation for swarm flight of small UAVs," Journal of Institute of Control, Robotics and Systems (in Korean), vol. 18, no. 5, pp. 433-438, 2012. https://doi.org/10.5302/J.ICROS.2012.18.5.433
  11. S. Moon, E. Oh, and D. H. Shim, "Study on an object-oriented swarm intelligence system for multiple UAVs," Proc. of Korean Society of Aeronautical & Space Sciences Fall Conference 2010 (in Korean), pp. 371-374, Jeju, Korea, Nov. 2010.
  12. S. Moon, E. Oh, and D. H. Shim, "An integral framework of task assignment and path planning for multiple unmanned aerial vehicles in dynamic environments," Proc. of International Conference on Unmanned Aerial Systems 2012, Pennsylvania, U.S., Jun. 2012.
  13. S. Moon, E. Oh, D. You, and D. H. Shim, "An integrated task assignment and path planning method and an simulation-based verification using X-plane for multiple unmanned aerial vehicles," Proc. of Korean Society of Aeronautical & Space Sciences Fall Conference 2011 (in Korean), Pyeongchang, Korea, pp. 1047-1051, Nov. 2011.

피인용 문헌

  1. A Study on Verify of UAV Flight Control Software Simulated Flight using Model-Based Development and X-Plane simulator vol.43, pp.2, 2015, https://doi.org/10.5139/JKSAS.2015.43.2.166