• Proceedings of the KIEE Conference
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• 2005.07d
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• pp.2849-2851
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• 2005

본 논문에서는 소형 카오스 무인 비행체에서의 장애물 회피 기법과 목표물 탐지 기법을 제안하였다. 장애물은 불안정한 VDP(van der Pol) 방정식을 이용하였으며 목표물은 안정한 VDP 방정식을 이용하였다. UAV가 장애물과 목표물에 접근하게 되면 불안정 또는 안정한 VDP 방정식이 UAV를 밀어내거나 끌어들임으로서 장애물을 피해가거나 목표물 탐색할 수 있는 알고리즘을 제시하고 컴퓨터 시뮬레이션으로 그 결과를 검증하였다.

• Journal of Korean Society of Transportation
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• v.20 no.5
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• pp.55-66
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• 2002

In many countries the principle of shielding is employed to permit a more logical approach to restricting new construction and prescribing obstacle marking and lighting. It also reduces the number of cases of new construction requiring review by authorities. Shielding principles are employed when some object, an existing building or natural terrain, already penetrates above one of the obstacle limitation surfaces described in Annex 14. If it is considered that the nature of an object is such that its presence may be permanent, then additional objects within a specified area around it may be permitted to penetrate the surface without being considered as obstacle. The shielding effect of immovable obstacles laterally in final approach and missed approach areas is more uncertain. In certain circumstances, it nay be advantageous to preserve existing unobstructed cross section areas, particularly when the obstacle is close to the runway. This would guard against future changes in either approach or take-off climb area specifications or the adoption of a turned take-off procedure.

• Journal of Korean Society of Transportation
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• v.23 no.6 s.84
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• pp.41-53
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• 2005

The effective utilization of an airport is considerably influenced by natural features and man-made structures inside and outside its boundary. These obstacles affect the airspace available for approaches and departures and the weather minima which dictates the necessary weather conditions for aircraft to be allowed to take-off or land. Certain areas of the airspace near airports must be regarded as the integral parts of the airport system. The availability of the required airspace is as important as are the runway and their associated strips to the safe and efficient use of the airport. For these reasons, ICAO and the member states have established the standards regarding the obstacle limitation surfaces and regulated the construction of the man-made structures in and beyond the surfaces. Existing objects that extend above a obstacle limitation surfaces should as for as practicable be removed except when, in the opinion of the appropriate authority, an objects is shielded an existing immovable objects, or after aeronautical study it is determined that the object would not adversely affect the safety or significantly affect the regularity of operations of airplanes. However, Korea's aviation law does not specified the outer horizontal surface in the obstacle limitation surfaces, while ICAO and most member states do. The absence of the outer horizontal surface regulation has created legal disputes between regulating agencies and private parties. The case study in this paper found that a skyscraper planned beyond Korea's obstacle limitation surfaces does affect the flight safety and the efficient use of an airport. Therefore, in areas beyond the obstacle limitation surfaces. those objects which extend to a height of 150m or more above ground elevation should be regarded as obstacle, unless a special aeronautical study indicates that they do not constitute a hazard to airplanes. We proposed low alternative regulatory schemes for resolving the issues raised in this paper, and we recommended to adopt ICAO's standards and recommended practices.

• Spatial Information Research
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• v.22 no.1
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• pp.75-84
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• 2014

Power lines are one of the main obstacles causing an aircraft crash and thus their realtime detection is significantly important during flight. To avoid such flight obstacles, the use of LIDAR has been recently increasing thanks to its advantages that it is less sensitive to weather conditions and can operate in day and night. In this study, we suggest a fast method to detect power lines from LIDAR data for flight obstacle avoidance. The proposed method first extracts non-ground points by eliminating the points reflected from ground surfaces using a filtering process. Second, we calculate the eigenvalues for the covariance matrix from the coordinates of the generated non-ground points and obtain the ratio of eigenvalues. Based on the ratio of eigenvalues, we can classify the points on a linear structure. Finally, among them, we select the points forming horizontally long straight as power-line points. To verify the algorithm, we used both real and simulated data as the input data. From the experimental results, it is shown that the average detection rate and time are 80% and 0.2 second, respectively. If we would improve the method based on the experiment results from the various flight scenario, it will be effectively utilized for a flight obstacle avoidance system.

• Proceedings of the Korea Information Processing Society Conference
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• 2015.10a
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• pp.1320-1321
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• 2015

무인항공기(Unmanned Aerial Vehicle, UAV)를 활용하여 넓은 범위를 감시하기 위해서 조종자가 반복적으로 같은 경로를 따라서 UAV를 비행시키는 것은 관리 및 운영에 필요한 비용과 시간 문제가 발생한다. UAV로 넓은 지역을 감시하기 위해서는 UAV의 자율 비행 연구가 필요하다. 전통적인 접근 방법은 GPS를 기반으로 이동할 위치를 연속적으로 설정해서 비행 경로를 설정한다. GPS 기반의 경로 설정은 비행 경로에 장애물이 없을 때 적합하다. 장애물을 고려한 비행을 위해서는 모터프리미티브 기반의 비행 기법이 필요하다. 이 논문에서는 UAV를 자율 비행시키기 위한 모터프리미티브의 구조를 제안한다. UAV의 비행 경로를 설정할 때 비행할 위치를 직접 설정하지 않고 감시할 위치를 설정해서 모터프리미티브를 정의하는 기법을 소개한다. 이와 같은 방법은 UAV가 감시할 위치가 사전에 정의될 때 조종사가 UAV의 경로를 쉽게 설정할 수 있다.

• Journal of the Korean Society for Aviation and Aeronautics
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• v.20 no.3
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• pp.1-7
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• 2012

Korea Aerospace Research Institute(KARI) has accomplished the planning study for setting up the mid-long term development plan of Goheung Aviation Test Center for the extensive use. In the future the aviation center will have a role of the complex center for the flight test, component test and R&D in Korea. KARI searches the legal requirements and informations for constructing the aviation test airfield in Goheung. Aviation law describes a lot of requirements to construct an airfield and the airfield also needs runway, equipments/facilities, obstacle limitation surfaces/distances, limitation altitudes and air space etc.. In this study the research results for the obstacle limitation Surface are mainly presented relating to the existing runway and the new large-scaled runway in Goheung.

• Journal of the Korean Institute of Intelligent Systems
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• v.21 no.3
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• pp.323-328
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• 2011

In real system application, the 3-D obstacle avoidance system for the autonomous control of the underwater flight vehicle (UFV) operates with the following problems: the sonar offers the range/bearing information of obstacles in a local detection area, it requires the system that has reduced acoustic noise and power consumption in terms of the autonomous underwater vehicle (AUV), it has the UFV operation constraints such as maximum pitch and depth, and it requires an easy design procedure in terms of its structures and parameters. To solve these problems, an intelligent 3-D obstacle avoidance algorithm using the evolution strategy (ES) and the fuzzy logic controller (FLC), is proposed. To verify the performance of the proposed algorithm, the 3-D obstacle avoidance of UFV is performed. Simulation results show that the proposed algorithm effectively solves the problems in the real system application.

• Journal of the Korean Institute of Intelligent Systems
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• v.19 no.5
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• pp.635-640
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• 2009

In real system application, the obstacle avoidance system for the autonomous control of the underwater flight vehicle (UFV) operates with the following problems: it has local information because the sonar can only offer the obstacle information in a local detection area, it requires a continuous control input because the system that has reduced acoustic noise and power consumption is necessary, and further, it requires an easy design procedure in terms of its structures and parameters. To solve these problems, an intelligent obstacle avoidance algorithm using the evolution strategy (ES) and the fuzzy logic controller (FLC), is proposed. To verify the performance of the proposed algorithm, the obstacle avoidance of UFV is performed. Simulation results show that the proposed algorithm effectively solves the problems in the real system application.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.36 no.5
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• pp.448-454
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• 2008

This paper deals with a behavior based decentralized control strategy for UAV swarming utilizing the artificial potential functions and the sliding mode control technique. Individual interactions for swarming behavior are modeled using the artificial potential functions. The motion of individual UAV is directed toward the negative gradient of the combined potential. For tracking the reference trajectory of UAV swarming, a swarming center is considered as the object of control. The sliding-mode control technique is adopted to make the proposed swarm control strategy robust with respect to the system uncertainties and the varying mission environment. Numerical simulation is performed to verify the performance of the proposed controller.

• Proceedings of the Korean Society of Computer Information Conference
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• 2012.01a
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• pp.49-50
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• 2012

본 논문에서는 다수의 소형 무인 항공기(UAV) 그룹이 이동 중 장애물을 만났을 때 장애물과의 충돌을 방지하는 효율적인 장애물 회피 정책을 제안한다. 이 정책은 무선 에드혹(moblie ad hoc) 네트워크를 기반으로 단순히 UAV 간의 충돌 회피 뿐만이 아니라 UAV 그룹이 이동하는 도중 장애물을 발견 하였을 경우 장애물을 효율적으로 회피하는 방법과 연결성이 손실되는 경우에 대처하는 방안도 고려하였다. 제안하는 정책은 UAV가 장애물을 포착 하였을 때 현재 이동 속도를 유지한 채 장애물을 기준으로 UAV 그룹을 2개의 그룹으로 분리하여 장애물을 회피 한 후 일정한 지점에서 모여 다시 각 UAV간의 연결성을 유지한 채 목표물을 향해 이동하는 정책을 제안한다.