Journal of Aerospace System Engineering (항공우주시스템공학회지)

The Society for Aerospace System Engineering (항공우주시스템공학회)
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Implementation of 3-D Collision Avoidance Algorithm and Comparison of Micro Controller Unit's Performance using Real-Time Operating System

항공기 3차원 충돌회피 알고리즘 구현과 실시간 운영체계를 이용한 Micro Controller Unit의 성능 비교

  • Lim, Ji-Sung (Graduate School of Aerospace and Mechanical Engineering, Korea Aerospace University) ;
  • Kim, Dong-Sin (School of Aerospace and Mechanical Engineering, Korea Aerospace University) ;
  • Park, In-Hyeok (School of Aerospace and Mechanical Engineering, Korea Aerospace University) ;
  • Lee, Sangchul (School of Aerospace and Mechanical Engineering, Korea Aerospace University)
  • 임지성 (한국항공대학교 대학원 항공우주 및 기계공학과) ;
  • 김동신 (한국항공대학교 항공우주 및 기계공학부) ;
  • 박인혁 (한국항공대학교 항공우주 및 기계공학부) ;
  • 이상철 (한국항공대학교 항공우주 및 기계공학부)
  • Received : 2018.08.10
  • Accepted : 2018.10.14
  • Published : 2018.10.31
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Abstract

In this study, Real-Time Operating System(RTOS) and 3-D collision avoidance algorithm are implemented to three different Miciro Controller Unit(MCU)s and their performances compared. We selected Microchip Technology's ATmega2560, STM's ARM Cortex-M3 and ARM Cortex-M4, because they are widely used. FreeRTOS, an open-source operating system, was also used. The 3D collision avoidance algorithm consists of the vertical and the horizontal avoidance algorithm, which is implemented using C++. The performances of the MCUs were compared with respect to used memory and calculation time. As a result, Cortex-M4's calculation time was the fastest and ATmega2560 used least memory.

본 논문에서는 RTOS과 항공기의 3차원 충돌회피 알고리즘을 세 개의 MCU에 적용하여 각 MCU의 성능을 비교하였다. MCU는 많이 사용되는 Microchip Technology사의 ATmega2560과 STM사의 ARM Cortex-M3, ARM Cortex-M4를 선정하였으며, RTOS는 공개되어 있는 FreeRTOS 를 사용하였다. 성능을 확인하기 위해 적용된 3차원 충돌회피 알고리즘은 수직회피와 수평회피를 통합한 알고리즘이며 C++로 구현하였다. MCU의 성능은 각 MCU의 사용 메모리와 계산 시간을 측정하여 비교하였다. 비교 결과 세 MCU 중, 계산 시간은 ARM Cortex-M4가 빨랐으며, ATmega2560이 적은 메모리를 사용하였다.

Keywords

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