• Electronics and Telecommunications Trends
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• v.34 no.3
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• pp.43-54
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• 2019

Currently, the use of unmanned aerial vehicles (UAVs) is spreading from recreational purposes to the public- and commercial-use product areas. Various efforts are being made worldwide to ensure the safety of UAVs and expand their service applications and convenience, because autonomous flights are becoming increasingly popular. In order for a UAV to perform autonomous flight and mission without operator assistance, environmental perception technology, path planning technology, and flight control technology are needed. In this article, we present recent trends in these technologies.

• Annual Conference of KIPS
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• 2013.05a
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• pp.219-222
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• 2013

최근 몇 년간 무인항공기(UAV) 시장이 점차 커지면서 군뿐만 아니라 민간, 상업적으로도 무인항공기의 수요가 증가하고 있다. 이에 무인항공기의 한 종류인 에어드론(AR.Drone)을 활용한 실시간 원격 쿼드로터(Quadrotor) 퓨전제어기법을 제안하였다. 특히, 본 논문에서는 아이폰(i-phone) 기반의 제어기법이 아닌, 안드로이드(Android) 기반의 퓨전제어기법을 통하여 에어드론을 실시간으로 원격조정가능하게 했는데, 이는 아이폰 App 개발 시 제공되는 API와 PC 기반의 쿼드로터 제어기법을 퓨전하는 방식으로 쿼드로터의 비행제어와 영상처리를 분리시켜 기존의 방식보다 영상처리 속도를 향상시키는 방식이다. 그리고 제안된 퓨전제어기법의 우수성을 보여주기 위해, 기존의 방식들과 영상처리 속도를 비교분석하였다.

• Annual Conference of KIPS
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• 2010.11a
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• pp.1613-1616
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• 2010

본 논문은 실시간 운영체제인 Xenomai 를 사용하여, 회전익 무인항공기 소프트웨어 개발에 대한 내용을 설명하고 있다. 실시간 운영체제 사용하여 고정 순위 우선 스케줄링을 채택함으로써 데드라인의 타이밍(Timming) 결정성을 보장하였고, 이기종 시스템과의 호환성과 확장성을 고려하여 POSIX API 를 사용하여 멀티 쓰레드를 구현하였다. 또한 실시간 드라이버 모델(RTDM : Real-Time Driver Model)을 사용하여 획득한 데이터를 실시간 전송이 가능하도록 하였다. 본 논문은 실시간 운영체제를 무인항공기에 적용하고 구현된 비행제어 컴퓨터와 제어 소프트웨어를 비율 단조 스케줄링을 적용하여 무인항공기의 쓰레드들의 응답 속도 및 안정성을 보장하는 방안을 제시하였다.

• The Journal of Korea Robotics Society
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• v.18 no.3
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• pp.316-322
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• 2023

The increasing popularity of autonomous unmanned aerial vehicles (UAVs) can be attributed to their wide range of applications. 3D path planning is one of the crucial components enabling autonomous flight. In this paper, we present a novel 3D path planning algorithm that generates and utilizes curvature-based trajectories. Our approach leverages circular properties, offering notable advantages. First, circular trajectories make collision detection easier. Second, the planning procedure is streamlined by eliminating the need for the spline process to generate dynamically feasible trajectories. To validate our proposed algorithm, we conducted simulations in Gazebo Simulator. Within the simulation, we placed various obstacles such as pillars, nets, trees, and walls. The results demonstrate the efficacy and potential of our proposed algorithm in facilitating efficient and reliable 3D path planning for UAVs.

• The Journal of Korea Robotics Society
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• v.18 no.3
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• pp.233-240
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• 2023

In this paper, we proposed a hybrid type robot that simultaneously surveillance and reconnaissance on the ground and in the air. It was possible to expand the surveillance and reconnaissance range by expanding the surveillance and reconnaissance area of the ground robot and quickly moving to the hidden area through the drone. First, ground robots go to mission areas through drones and perform surveillance and reconnaissance missions for urban warfare or mountainous areas. Second, drones move ground robots quickly. It transmits surveillance and reconnaissance images of ground robots to the control system and performs reconnaissance missions at the same time. Finally, in order to secure the interoperability of these hybrid robots, basic performance and environmental performance were verified. The evaluation method was tested and verified based on the KS standards.

• Journal of Hydrogen and New Energy
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• v.34 no.5
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• pp.490-496
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• 2023

Unmanned aerial vehicles (UAVs) research is recently actively underway. Especially, fuel cell battery hybrid systems are widely used to overcome the limitations of continuous operation. However, fuel cell systems must be operated in combination with a battery due to their low specific output characteristics. Therefore, a hybrid power system model for UAVs is developed. The rule-based strategy is applied to the model to properly distribute power to batteries and fuel cells. As a result, the designed rule-based power distribution control operates UAVs while maintaining battery state of charge(SOC) at an appropriate level.

• Advances in aircraft and spacecraft science
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• v.10 no.5
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• pp.473-494
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• 2023

This article introduces a formalism for the analysis of airplane trajectories on which the motion is determined by specifying the power of the engines. It explains a procedure to solve the equations of motion to obtain the value of the relevant flight parameters. It then enumerates the constraints that the dynamical abilities of the airplane impose on the amount of fuel used, the speed, the load factor, the lift coefficient, the positivity and upper boundedness of the power available. Examples of analysis are provided to illustrate the method proposed, with rectilinear and circular trajectories. Two very different types of airplanes are used in the examples: a Silver Fox-like small UAV and a common Cessna 182 Skylane.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.49 no.12
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• pp.971-980
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• 2021

Recently popularized drone technologies have revealed that low-cost small unmanned aerial vehicles(UAVs) can be a significant threat to prevailing power by operating in group or in swarms. Researchers in many countries have tried to utilize integrated swarm unmanned aerial system(SUAS) in the battlefield. Agency for Defense Development also identified four core technologies in developing SUAS: swarm control, swarm network, swarm information, and swarm collaboration, and the authors started researches on swarm control and network technologies in order to be able to operate vehicle platforms as the first stage. This paper introduces design and integration of SUAS consisting of small fixed-wing UAVs, swarm control and network algorithms, a ground control system, and a launcher, with which swarm control and network technologies have been verified by flight tests. 19 fixed-wing UAVs succeeded in swarm flight in the final flight test for the first time as a domestic research.

• Journal of Institute of Control, Robotics and Systems
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• v.19 no.5
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• pp.442-449
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• 2013

In this paper, a simulation system based on X-Plane and MATLAB/Simulink for multiple UAVs is presented. For the conceptual design of this proposed system, a hierarchical system architecture for multiple UAVs is presented. This architecture has object-oriented data structure which consists of three objects (UAV status, mission and task, and environment) and a hierarchy consisting of four layers (decision making layer, task assignment layer, path and motion planning layer, and collision avoidance layer) is also proposed. In addition, this paper shows a implementation of simulation system based on the proposed system architecture using X-Plane and MATLAB/Simulink. The result of simulation from the developed system in this paper validate capability of application for multiple UAVs in real environment.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 2012.05a
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• pp.85-87
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• 2012

This paper, UAVs of the secondary communication link that applies to the analysys of time-division communication system and communication method proposed algorithm has been developed. UAVs of the important characteristics of the data link latency and throughput, the frequency is availability, weight. The data needed to operate UAVs vehicle control data, status data, there is an acquisition. Control and data acquisition will require real-time communication. Based on the requirements being applied to the secondary communication link communication method were compared and analyzed. The results of analysis of ground-base TDD method is suitable.