Journal of the Korea Institute of Military Science and Technology (한국군사과학기술학회지)

The Korea Institute of Military Science and Technology (한국군사과학기술학회)
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Unit Mission Based Mission Planning and Automatic Mission Management for Robots

단위임무 기반 로봇의 임무 계획 및 자동화 임무 관리 방법론

  • Lee, Ho-Joo (Defense Unmanned Technology Center, Agency for Defense Development) ;
  • Park, Won-Ik (Defense Unmanned Technology Center, Agency for Defense Development) ;
  • Kim, Do-Jong (Defense Unmanned Technology Center, Agency for Defense Development)
  • 이호주 (국방과학연구소 국방무인기술센터) ;
  • 박원익 (국방과학연구소 국방무인기술센터) ;
  • 김도종 (국방과학연구소 국방무인기술센터)
  • Received : 2013.10.02
  • Accepted : 2014.01.17
  • Published : 2014.02.05
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Abstract

In this paper, it is suggested a method of mission planning and management for robots based on the unit mission. In order to make robots execute given missions continuously as time goes by, a new concept for planning the mission which is composed of one or more unit missions and an automatic mission management scheme are developed. For managing robot's missions in real time, six management methods are devised as well in order to cope with the mismatches, which occur frequently during the mission execution, as to the initial plan. Without the operator's involvement, any mismatch can be adjusted automatically by applying one of the mission management methods. The suggested concept of mission planning and mission management methods based on the unit mission are partially realized in the Dog-Horse robot system and it is checked that it can be a viable one for developing effective robot operation systems.

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References

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  1. Operator Capacity Assessment Method for the Supervisory Control of Unmanned Military Vehicle vol.12, pp.1, 2017, https://doi.org/10.7746/jkros.2017.12.1.094