• 제어로봇시스템학회:학술대회논문집
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• 2004.08a
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• pp.367-371
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• 2004

This paper describes development of automatic flight control system for an unmanned target drone which is operated by Korean army as for anti-air gun shooting training. Current target drone is operated by pilot control of on-board servo motor via remote control system. Automatic flight control system for the target drone greatly reduces work load of ground pilot and can increase application area of the drone. Most UAVs being operated now days use high-priced sensors as AHRS and IMU to measure the attitude, but those are costly. This paper introduces the development of low-cost automatic flight control system with low-cost sensors. The integrated automatic flight control system has been developed by integrating combining power module, switching module, monitoring module and RC receiver as an one module. The performance of automatic flight control system is verified by flight test.

• Proceedings of the Korean Institute of Navigation and Port Research Conference
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• 2000.08a
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• pp.137-153
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• 2000

• Journal of Advanced Navigation Technology
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• v.8 no.1
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• pp.19-26
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• 2004

This paper deals with the automatic flight control system for an unmanned target drone which is operated by an army as an anti-air gun shooting training. By automation of unmanned target drone that is manually operated by external pilot, pilot can reduce workload and an army can reduce the budget. Most UAVs which are developed until today use high-cost sensors as AHRS and IMU to measure the attitude, but those are contradictory for the reduction of budget. This paper says the development of low-cost automatic flight control system which makes possible of automatic flight with low-cost sensors. We have developed the integrated automatic flight control system by integrating electricity module, switching module, monitoring module and RC receiver as an one module. We also prove the performance of automatic flight control system by flight test.

• Journal of the Korean Institute of Intelligent Systems
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• v.21 no.6
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• pp.755-760
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• 2011

This paper presents a method for improving the positioning accuracy of the laser navigation. As a wireless navigation system, the laser navigation which is more flexible than a wired guidance system is used for the localization and control of an AGV(automatic guided vehicle). However, the laser navigation causes the large positioning error while the AGV turns or moves fast. To solve the problem, we propose the method for improving the positioning accuracy of the laser navigation using particle filter which has robust and reliable performance in non-linear/non-gaussian systems. For the experiment, we use the actual fork-type AGV. The AGV has a gyro, two encoders and a laser navigation. To verify the performance, the proposed method is compared with the laser navigation which is a product. In the experimental result, we verified that the proposed method could improve the positioning accuracy by approximately 66.5%.

• The Journal of Korea Robotics Society
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• v.1 no.2
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• pp.117-124
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• 2006

In this paper, we develope the navigation system for patrol robots in indoor environment. The proposed system consists of PDA map modelling, a localization algorithm based on a global position sensor and an automatic charging station. For the practical use in security system, the PDA is used to build object map on the given indoor map. And the builded map is downloaded to the mobile robot and used in path planning. The global path planning is performed with a localization sensor and the downloaded map. As a main controller, we use PXA270 based hardware platform in which embedded linux 2.6 is developed. Data handling for various sensors and the localization algorithm are performed in the linux platform. Also, we implemented a local path planning algorithm for object avoidance with ultra sonar sensors. Finally, for the automatic charging, we use an infrared ray system and develop a docking algorithm. The navigation system is experimented with the two-wheeled mobile robot using North-Star localization system.

• Journal of Advanced Navigation Technology
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• v.8 no.2
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• pp.105-111
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• 2004

This paper describes the design of navigation system for an unmanned target drone which is operated by Korean army as for anti-air gun shooting training. Current target drone is operated by pilot control of on-board servo motor via remote control system. Automatic flight control system for the target drone greatly reduces work load of ground pilot and can increase application area of the drone. Most UAVs being operated nowdays use high-priced sensors as AHRS and IMU to measure the attitude, but those are costly. This paper introduces the development of low-cost automatic flight control system with low-cost sensors. The integrated automatic flight control system has been developed by integrating combining power module, switching module, monitoring module and RC receiver as an one module. The performance of navigation for low cost unmanned aerial vehicle, unmanned target drone as our test bed in this paper is verified by both Hardware in the loop simulation(HILS) to test performance of GPS as GPS output frequency high and results of flight test.

• Journal of the Korean Institute of Intelligent Systems
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• v.11 no.5
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• pp.433-440
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• 2001

In this paper, we propose an automatic navigation system of ship using multivariable fuzzy control system in dynamic sea environment. The proposed multivariable fuzzy control system consists of two subsystems with three inputs and two outputs. The effectiveness of the proposed multivariable fuzzy control system is shown by simulation results.

• Proceedings of the Korean Institute of Navigation and Port Research Conference
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• 1996.04a
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• pp.77-92
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• 1996

When an automatic course-keeping is concerned as is quite popular in modern navigation the closed-loop steering system consists of autopilot device power unit (or telemotor unit) steering gear magnetic or gyro compass and ship dynamics. The consideration of irregular disturbances to ship dyanmics and a few non-linear mechanisms involved in the system inevitably or artificially are known to be very important in properly evaluating or analyzing the automatic steering system. In the present study the mathematical model of each element of an automatic steering system is derived which takes account of a fex non-linear mechanisms. PD(Proportional-Derivative) controller and low-pass filter with a weather adjustment are adopted to modelling the characteristics of an autopilot. The calculation method of imposing irregular disturbances to ship dynamics is proposed where irregular disturbances implying irregular wave and the fluctuating component of wind. For he evaluation of automatic steering system of ships in the open seas an important term "performance index" is introduced from the viewpoint of energy saving which derived from the concept of energy loss on ship propulsion. Finally the present methods are applied to two typical types of ship ; an ore carrier and a fishing boat. The various effects of linear and/or non-linear control constants of autopilot on propulsive energy loss are investigated to validate and clarify the present smulation technique.

• Journal of Navigation and Port Research
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• v.30 no.3 s.109
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• pp.197-201
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• 2006

The AIS(Automatic Identification System) is the useful equipment in order to promote the maritime safety and real time monitoring at the sea. In this study, the plan to construct the ubiquitous Aids to navigation is proposed. In order to verify the construction of ubiquitous Aids to navigation, the experiment on the sea was carried out and analyzed.

• Proceedings of the Korean Institute of Navigation and Port Research Conference
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• 2005.10a
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• pp.169-174
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• 2005

The AIS(Automatic Identification System) is the useful equipment in order to promote the maritime safety and real time monitoring at the sea. In this study, the plan to construct the ubiquitous Aids to navigation is proposed. In order to verify the construction of ubiquitous Aids to navigation, the experiment on the sea was carried out and analyzed.