• ETRI Journal
• /
• 제45권5호
• /
• pp.746-757
• /
• 2023

This study presents a novel safe landing algorithm for urban drone deliveries. The rapid advancement of drone technology has given rise to various delivery services for everyday necessities and emergency relief efforts. However, the reliability of drone delivery technology is still insufficient for application in urban environments. The proposed approach uses the "landing angle control" method to allow the drone to land vertically and a rapidly exploring random tree-based collision avoidance algorithm to generate safe and efficient vertical landing paths for drones while avoiding common urban obstacles like trees, street lights, utility poles, and wires; these methods allow for precise and reliable urban drone delivery. We verified the approach within a Gazebo simulation operated through ROS using a six-degree-of-freedom drone model and sensors with similar specifications to actual models. The performance of the algorithms was tested in various scenarios by comparing it with that of stateof-the-art 3D path planning algorithms.

• 산업경영시스템학회지
• /
• 제45권4호
• /
• pp.225-232
• /
• 2022

Recently, unmanned logistics delivery systems, such as UAV (Unmanned Aerial Vehicle, written as drone below) and autonomous robot delivery systems, have been implemented in many countries due to the rapid development of autonomous driving technology. The development of these new types of advanced unmanned logistics delivery systems is essential not only to become a leading logistics company but also to secure national competitiveness. In this paper, the application of the unmanned logistics delivery system was investigated in terms of market trends, overall technology level of last mile delivery drone and autonomous delivery robot. The direction of response to changes in the last mile delivery service market was checked through a comparison of the technological level between domestic companies that produce last mile devices and advanced foreign companies. As a result of this technology level analysis, the difference between domestic companies and advanced companies was shown using tables and figures to show their relative levels. The results of this analysis reflect the opinions of experts in the field of last-mile delivery technology. In addition, the technology level of unmanned logistics delivery systems for each country was analyzed based on the number of related technology patents. Lastly, insights for the technology level analysis of unmanned last mile delivery systems were proposed as a conclusion.

• 전자통신동향분석
• /
• 제38권3호
• /
• pp.11-19
• /
• 2023

Drones, which were early operated by remote control, have evolved to enable autonomous flight by combining various sensors and software tools. In particular, autonomous flight of drones was possible since the application of GNSS-RTK (global navigation satellite system with real-time kinematic positioning), a precision satellite navigation technology. For instance, unmanned drone delivery based on GNSS-RTK data was demonstrated for pizza delivery in Korea for the first time in 2021. However, the vulnerabilities of GNSS-RTK should be overcome for delivery drones to be commercialized. In particular, jamming in the navigation system and low positioning accuracy in urban areas should be addressed. Solving these two problems can lead to stable flight, takeoff, and landing of drones in urban areas, and the corresponding solutions are expected to establish a hybrid positioning technology. We discuss current trends in hybrid positioning technology that can either replace or complement GNSS-RTK for stable drone autonomous flight.

• 산업경영시스템학회지
• /
• 제46권2호
• /
• pp.160-167
• /
• 2023

This study focuses on the development of a Last-Mile delivery service using unmanned vehicles to deliver goods directly to the end consumer utilizing drones to perform autonomous delivery missions and an image-based precision landing algorithm for handoff to a robot in an intermediate facility. As the logistics market continues to grow rapidly, parcel volumes increase exponentially each year. However, due to low delivery fees, the workload of delivery personnel is increasing, resulting in a decrease in the quality of delivery services. To address this issue, the research team conducted a study on a Last-Mile delivery service using unmanned vehicles and conducted research on the necessary technologies for drone-based goods transportation in this paper. The flight scenario begins with the drone carrying the goods from a pickup location to the rooftop of a building where the final delivery destination is located. There is a handoff facility on the rooftop of the building, and a marker on the roof must be accurately landed upon. The mission is complete once the goods are delivered and the drone returns to its original location. The research team developed a mission planning algorithm to perform the above scenario automatically and constructed an algorithm to recognize the marker through a camera sensor and achieve a precision landing. The performance of the developed system has been verified through multiple trial operations within ETRI.

• 한국IT서비스학회지
• /
• 제15권4호
• /
• pp.25-39
• /
• 2016

The drone is an unmanned aerial vehicle which has no human pilot. Drones can be classified into military drones, commercial drones, and personal drones by usage. Also, drones can be classified from large-sized to nano-sized drone by size and autonomous, remote controlled drone by control type. Especially, military drones can be classified into low-altitude drones, medium-altitude, and high-altitude drones by altitude. Recently, the drone industry is one of the fast growing industries in the world. As drone technologies have become more advanced and cost-effective, Korean government has set its goal to become a top-level country in drone business. However, the government's strict regulation for drone operations is one of the biggest hurdles for the development of the related technologies in Korea and other countries. For example, critical problems for drone delivery can be classified into technical issues and institutional issues. Technical issues include durability, conditional awareness, grasp and release mechanisms, collision avoidance systems, drone operating system. Institutional issues include pilot and operator licensing, privacy rules, noise guidelines, security rules, education for drone police. This study analyzes the trends of the drone industry from the viewpoint of technology and regulation. Also, we define the business areas of drone utilization. Especially, the drone business types or models for public sector are proposed. Drone services or functions promoting public interests need to be aligned with the business reference model of Korean government. To define ten types of drone uses for public sector, we combine the business types of government with the future uses of drones that are proposed by futurists and business analysts. Future uses of drones can be divided into three sectors or services. First, drone services for public or military sectors include early warning systems, emergency services, news reporting, police drones, library drones, healthcare drones, travel drones. Second, drone services for commercial or industrial services include parcel delivery drones, gaming drones, sporting drones, farming and agriculture drones, ranching drones, robotic arm drones. Third, drone services for household sector include smart home drones.

• 대한임베디드공학회논문지
• /
• 제14권3호
• /
• pp.157-163
• /
• 2019

As the drone industry has grown greatly in recent years, drones are being used or developed in many industrial fields such as image shooting, pesticide application, delivery service, food delivery etc. In this paper, therefore, we developed a program that takes a user's desired area at a certain height using a camera-equipped drone and obtains the area of the zone the user wants through image processing. The first user selects an area or a path. Afterwards, the drone flies and takes pictures, and then measures the user's needs. A digital image taken at a constant height and with the same resolution is composed of pixels, the area can be calculated easily if we know the number of pixels in the zone the user wants. Particularly, it is easy to calculate the area of various shaped zones, not terrain shapes such as triangles and squares. In addition, the total area of specific places of the entire zone can be calculated. With the program of this paper, anyone can easily calculate the area of the place the user wants using a drone rather than calculating the area through difficult formulas or specialized equipment.

• 한국콘텐츠학회논문지
• /
• 제21권12호
• /
• pp.375-383
• /
• 2021

COVID-19로 인해 사람들은 외출과 모임 자제로 온라인 쇼핑, 온라인 여행, 화상회의 등 새로운 라이프 스타일을 구축하고 있다. 이러한 급격한 사회의 변화는 새로운 문제들을 야기시킴과 동시에 기존의 문제들을 심화시키고 있다. 특히 온라인 소비가 크게 증가함에 따라 생활물류산업에서는 교통체증, 대기오염, 배송기사의 과중한 업무 등이 심화되고 있으며 대면배송이 새로운 문제점으로 나타나고 있다. 4차 산업혁명의 등장으로 드론에 인공지능, 자율주행 등을 활용한 무인 배달이 기존 생활물류산업의 대체산업으로 떠오르고 있으나 드론의 비행에 따른 물류시설의 공간과 추가적인 물류부지 확보가 해결되어야 하는 새로운 문제점으로 나타난다. 따라서, 기존의 문제들과 새롭게 생겨난 문제들을 해소할 수 있는 드론을 위한 물류시설의 공간으로 기존 운수 사업인 지하철을 활용하여 물류 이동과 보관, 배송 등과 같은 부가적인 서비스를 연계하고자 한다.

• 한국정보처리학회:학술대회논문집
• /
• 한국정보처리학회 2023년도 추계학술발표대회
• /
• pp.624-627
• /
• 2023

Unmanned aerial vehicles are gaining in popularity with the development of science and technology, and are being used for a wide range of purposes, including surveillance, rescue, delivery of goods, and data collection. In particular, the ability to avoid obstacles during navigation without human oversight is one of the essential capabilities that a drone must possess. Many works currently have solved this problem by implementing deep reinforcement learning (DRL) model. The essential core of a DRL model is reward function. Therefore, this paper proposes a new reward function with appropriate action space and employs dueling double deep Q-Networks to train a drone to navigate in indoor environment without collision.

• 산업융합연구
• /
• 제18권1호
• /
• pp.79-85
• /
• 2020

최근 원격조종과 자율조종이 가능한 무인항공기(RPAS:Remotely Piloted Aircraft System)가 택배 드론, 소방드론, 구급 드론, 농업용 드론, 예술 드론, 드론 택시 등 각 산업 분야와 공공기관에서의 관심과 활용이 높아지고 있다. 자율조종이 가능한 무인드론의 안정성 문제는 앞으로 드론 산업의 발달과 함께 진화하면서 해결해야 할 가장 큰 과제이기도 하다. 드론은 자율비행제어 시스템이 지정한 경로로 비행하고 목적지에 정확하게 자동 착륙을 수행할 수 있어야 한다. 본 연구는 드론의 센서와 GPS의 위치 정보의 오류를 보완하는 방법으로서 착륙지점 영상을 통해 드론의 도착 여부를 확인하고 정확한 위치에서의 착륙을 제어하는 기법을 제안한다. 서버에서 도착지 영상을 구글맵 API로부터 수신받아 딥러닝으로 학습하고, 드론에 NAVIO2와 라즈베리파이, 카메라를 장착하여 착륙지점의 이미지를 촬영한 다음 이미지를 서버에 전송한다. Deep Learning으로 학습된 결과와 비교하여 임계치에 맞게 드론의 위치를 조정한 후 착륙지점에 자동으로 착륙할 수 있다.

• 한국도서관정보학회지
• /
• 제52권1호
• /
• pp.27-54
• /
• 2021

본 연구에서는 자율사물 중 도서관에 적용가능한 로봇과 드론, 자율주행을 중심으로 전반적인 내용을 살펴보고 이를 기반으로 향후 도서관에 도입 및 적용할 수 있는 방안을 제안하였다. 연구 결과, 관내의 경우 로봇과 드론을 활용하여 장서점검, 장서운반, 장서배열, 장서분류에서부터 도서위치안내, 도서추천, 대출/반납, 도서관 전반적인 안내, 참고정보서비스 등까지 적용할 수 있다. 관외의 경우 로봇, 드론, 자율주행 자동차를 활용해 도서배송서비스, 도서반납서비스, 무인이동도서관 등에 활용할 수 있을 것으로 보인다. 본 연구는 도서관의 자율사물 도입 및 적용을 위한 기초연구로써 향후 체계적인 도입을 위한 인식조사, 적용모델 개발 등의 후속 연구가 진행되어야 한다.