• Journal of Advanced Marine Engineering and Technology
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• v.40 no.7
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• pp.622-628
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• 2016

The prosperity of IT technologies and the removal of restrictions regarding Unmanned Aerial Vehicles (UAVs), also known as drones, have driven growth in their popularity. However, without a proper solution to the problem of accident avoidance for UAVs, this popularity increases the potential for collisions between UAVs and between UAV and terrain features. These collisions can occur because UAVs to date have flown using radio control or image recognition based autonomous navigation. Therefore, we propose efficient UAV routing schemes to tackle the collision problem using vehicular communication systems. Performance evaluation by computer simulation shows that the proposed methods effectively reduce the collision probability and improve the routing efficiency of the UAV. Furthermore, the proposed algorithms are compatible and can be directly applied with small overhead to the commercial vehicular communication system implementation.

• Journal of Korean Society of Industrial and Systems Engineering
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• v.34 no.3
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• pp.24-34
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• 2011

An Unmanned Aerial Vehicle (UAV) is a powered pilotless aircraft, which is controlled remotely or autonomously. UAVs are an attractive alternative for many scientific and military organizations. UAVs can perform operations that are considered to be risky or uninhabitable for human. UA V s are currently employed in many military missions such as reconnaissance, surveillance, enemy radar jamming, decoying, suppression of enemy air defense (SEAD), fixed and moving target attack, and air-to-air combat. UAVs also are employed in a number of civilian applications such as monitoring ozone depletion, inclement weather, traffic congestion, and taking images of dangerous territory. For accomplishing the UAV's missions, guarantee of survivability should be preceded. The main objective of this study is to suggest a mathematical programming model and a $A^*PS$-PGA (A-star with Post Smoothing-Parallel Genetic Algorithm) for an UAV's path planning to maximize survivability. A mathematical programming model is composed by using MRPP (Most Reliable Path Problem) and TSP (Traveling Salesman Problem). A path planning algorithm for UAV is applied by transforming MRPP into SPP (Shortest Path Problem).

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.33 no.3
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• pp.71-77
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• 2005

An unmanned aerial vehicle (UAV) is generally flied via a pre-planned flight path or real-time commands by an operator. To succeed in an assigned mission, analysis such as the line-of-sight analysis for communication between UAV and a ground data terminal should be performed. In this paper, various analysis algorithms which are performed by a ground control station in pre-flight and in-flight phases, are proposed for the safe flight of UAV. Note that the proposed algorithms can be applied to most UAV systems.

• Smart Structures and Systems
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• v.29 no.4
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• pp.617-624
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• 2022

A new intelligent adaptive control scheme was proposed that combines the control based on interference observer and fuzzy adaptive s-curve for flight path tracking control of unmanned aerial vehicle (UAV). The most important contribution is that the control configurations don't need to know the uncertainty limit of the vehicle and the influence of interference is removed. The proposed control law is an integration of fuzzy control estimator and adaptive proportional integral (PI) compensator with input. The rated feedback drive specifies the desired dynamic properties of the closed control loop based on the known properties of the preferred acceleration vector. At the same time, the adaptive PI control compensate for the unknown of perturbation. Additional terms such as s-surface control can ensure rapid convergence due to the non-linear representation on the surface and also improve the stability. In addition, the observer improves the robustness of the adaptive fuzzy system. It has been proven that the stability of the regulatory system can be ensured according to linear matrix equality based Lyapunov's theory. In summary, the numerical simulation results show the efficiency and the feasibility by the use of the robust control methodology.

• KSII Transactions on Internet and Information Systems (TIIS)
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• v.17 no.2
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• pp.353-368
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• 2023

The four wing unmanned aerial vehicle owns the characteristics of small size, light weight, convenient operation and well stability. But it is easily disturbed by external environmental factors during flight with these disadvantages of short endurance and poor attitude solving ability. For solving these problems, a microprocessor based on STM32 chip is designed and the overall development is completed by the resources such as built-in timer and multi-function mode general-purpose input/output provided by the master micro controller unit, together with radio receiver, attitude meter, barometer, electronic speed control and other devices. The unmanned aerial vehicle can be remotely controlled and send radio waves to its corresponding receiver, control the analog level change of its corresponding channel pins. The master control chip can analyze and process the data to send multiple sets pulse signals of pulse width modulation to each electronic speed control. Then the electronic speed control will transform different pulse signals into different sizes of current value to drive the motor located in each direction of the frame to generate different rotational speed and generate lift force. To control the body of the unmanned aerial vehicle, so as to achieve the operator's requirements for attitude control, the PID controller based on Kalman filter is used to achieve quick response time and control accuracy. Test results show that the design is feasible.

• KSII Transactions on Internet and Information Systems (TIIS)
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• v.14 no.3
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• pp.1377-1399
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• 2020

In search and rescue mission, micro aerial vehicles (MAVs) are typically used to capture image and video from an aerial perspective and transfer the data to the ground station. Because of the power limitation, a cluster of MAVs are required for a large search area, hence an ad-hoc wireless network must be maintained to transfer data more conveniently and fast. However, the unstable link and the intermittent connectivity between the MAVs caused by MAVs' movement may challenge the packet forwarding. This paper proposes a delay tolerant packet forwarding algorithm based on location estimation for MAV networks, called DTN_est algorithm. In the algorithm, ferrying MAVs are used to transmit data between MAVs and the ground station, and the locations of both searching MAVs and ferrying MAVs are estimated to compute the distances between the MAVs and destination. The MAV that is closest to the destination is selected greedy to forward packet. If a MAV cannot find the next hop MAV using the greedy strategy, the packets will be stored and re-forwarded once again in the next time slot. The experiment results show that the proposed DTN_est algorithm outperforms the typical DTN_geo algorithm in terms of packet delivery ratio and average routing hops.

• ETRI Journal
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• v.43 no.3
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• pp.436-446
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• 2021

In this paper, we propose an energy-efficient unmanned aerial vehicle (UAV) relaying network. In this network, the channels between UAVs and ground transceivers are model-free. A UAV acting as a flying relay explores better channels to assist in efficient data delivery between two ground nodes. The full-duplex relaying mode is applied for potential energy efficiency (EE) improvements. With the genetic algorithm, we manage to optimize the UAV trajectory for any arbitrary radio map scenario. Numerical results demonstrate that compared to other schemes (eg, fixed trajectory/speed policies), the proposed algorithm performs better in terms of EE. Additionally, the impact of self-interference on average EE is also investigated.

• The Journal of Korea Robotics Society
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• v.11 no.4
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• pp.262-269
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• 2016

Flight of an autonomous unmanned aerial vehicle (UAV) generally consists of four steps; take-off, ascent, descent, and finally landing. Among them, autonomous landing is a challenging task due to high risks and reliability problem. In case the landing site where the UAV is supposed to land is moving or oscillating, the situation becomes more unpredictable and it is far more difficult than landing on a stationary site. For these reasons, the accurate and precise control is required for an autonomous landing system of a UAV on top of a moving vehicle which is rolling or oscillating while moving. In this paper, a vision-only based landing algorithm using dynamic gimbal control is proposed. The conventional camera systems which are applied to the previous studies are fixed as downward facing or forward facing. The main disadvantage of these system is a narrow field of view (FOV). By controlling the gimbal to track the target dynamically, this problem can be ameliorated. Furthermore, the system helps the UAV follow the target faster than using only a fixed camera. With the artificial tag on a landing pad, the relative position and orientation of the UAV are acquired, and those estimated poses are used for gimbal control and UAV control for safe and stable landing on a moving vehicle. The outdoor experimental results show that this vision-based algorithm performs fairly well and can be applied to real situations.

• Journal of Aerospace System Engineering
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• v.8 no.4
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• pp.1-6
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• 2014

This paper presents the trade-off study of conducting a survey of the weights for various kind of propulsion systems installed in the Smart Unmanned Aerial Vehicle TR-100, a tilt-rotor vehicle, which is developed by Korea Aerospace Research Institute, in order to predict the appropriate propulsion system for present and future Personal Air Vehicle, which has single mode and vertical take-off & landing. In order to perform the trade-off study, we set the requirements that the vehicle hovers for 1 hour with 1,000 kg maximum take off weights. In this study, the power systems are classified engine, which uses the fossil fuel - turboshaft engine, piston engine, diesel engine and rotary engine, and electric motor with fuelcell or Li-Ion battery. The results of trade-off study shows the power systems using fossil fuel are superior to using fuelcell or Li-Ion battery for weight of propulsion system. Also turboshaft engine is the best power system for the aspects of system weight, and the nexts are rotary engine, piston engine, diesel engine, electric motor with Li-Ion battery, and electric motor with fuelcell.

• Journal of Institute of Control, Robotics and Systems
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• v.18 no.5
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• pp.407-412
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• 2012

In this paper, we discuss an observer-based fault tolerant controller design for the unmanned aerial vehicle (UAV) systems with exogenous disturbance. To derive robust controller design conditions, we use $H_{\infty}$ design technique. The design conditions are derived in terms of linear matrix inequalities. An illustrative example is provided to show the effectiveness of the proposed methodology.