• Title/Summary/Keyword: Unmanned

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Development and application of unmanned crane system in the warehouse (창고 Crane 무인화 시스템 개발 및 적용)

  • 박남수;김태진
    • 제어로봇시스템학회:학술대회논문집
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    • 1996.10b
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    • pp.1079-1082
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    • 1996
  • Automatic control systems for warehouse composed of unmanned crane system and vision system. Unmanned crane system is introduced to reject oscillations of a load suspended from a trolley at a moment of its arrival at its target position. And vision system is applied to find out the coordinates of coils on trucks using image processing.

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Design of Flight Control System for KARI Unmanned Airship (50m급 중고도 무인 비행선의 자동비행시스템 설계)

  • 김성필;주광혁;안이기
    • Journal of Institute of Control, Robotics and Systems
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    • v.10 no.2
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    • pp.139-144
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    • 2004
  • The flight control system designed for an unmanned airship, which is under development by KARI, is in reduced. First, the dynamic characteristics of the airship are addressed, which are fairly different from those of the nominal aircraft. In order to implement autonomous flight for the unmanned airship, flight control logic is designed including autopilot and guidance law. The autopilot is designed under consideration of the velocity region of the unmanned airship. The guidance laws are implemented in main operational modes such as point navigation, station keeping and spiral up/down for emergency return. Their simulation results are also presented in order to validate performances of the flight control system.

Automatic Train Operation System Requirements Examination for Driverless Operation and Application Case of Urban Maglev Train (무인운전을 위한 자동열차운전장치 시스템 요구조건 검토 및 도시형 자기부상열차 적용사례)

  • Kang, Kyeong-Yong;Cho, Young-Wan;Park, Hee-Jun;Park, Chae-Young
    • Proceedings of the KSR Conference
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    • 2011.10a
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    • pp.1100-1107
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    • 2011
  • The light-rail system which is recently being built in Korea is a train control system based on driverless operation, and the train control system for urban maglev train under construction at the moment in Youngjong-Do, Incheon is pushed ahead based on driverless operation. In this paper, it compares train operation cases with manned operation and unmanned operation to examine system requirements for unmanned driving on train and detects system requirements of automatic train operation device for unmanned operation by analyzing unmanned operation cases which are currently operating or planed project and also introduces automatic train operation of urban maglev train and verifies whether the system for unmanned driving meets the requirements.

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A Flight Control System design for an Unmanned Helicopter

  • Park, Soo-Hong;Kim, Jong-Kwon;Jang, Cheol-Soon
    • 제어로봇시스템학회:학술대회논문집
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    • 2004.08a
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    • pp.1375-1379
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    • 2004
  • Unmanned Helicopter has several abilities such as vertical Take off, hovering, low speed flight at low altitude. Such vehicles are becoming popular in actual applications such as search and rescue, aerial reconnaissance and surveillance. These vehicles also used under risky environments without threatening the life of a pilot. Since a small aerial vehicle is very sensitive to environmental conditions, it is generally known that the flight control is very difficult problems. In this paper, a flight control system was designed for an unmanned helicopter. This paper was concentrated on describing the mechanical design, electronic equipments and their interconnections for acquiring autonomous flight. The design methodologies and performance of the helicopter were illustrated and verified with a linearized equation of motion. The LQG based estimator and controller was designed and tested for this unmanned helicopter.

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Research of the Unmanned Vehicle Control and Modeling for Lane Tracking and Obstacle Avoidance

  • Kim, Sang-Gyum;Lee, Woon-Sung;Kim, Jung-Ha
    • 제어로봇시스템학회:학술대회논문집
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    • 2003.10a
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    • pp.932-937
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    • 2003
  • In this paper, we will explain about the unmanned vehicle control and modeling for combined obstacle avoidance and lane tracking. First, obstacle avoidance is considered as one of the important technologies in the unmanned vehicle. It is consisted by two parts: the first part includes the longitudinal control system for the acceleration and deceleration and the second part is the lateral control system for the steering control. Each system uses to the obstacle avoidance during the vehicle moving. Therefore, we propose the method of vehicle control, modeling and obstacle avoidance. Second, we describe a method of lane tracking by means of vision system. It is important in the unmanned vehicle and mobile robot system. In this paper, we deal with lane tracking and image processing method and it is including lane detection method, image processing algorithm and filtering method.

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Modified A* Algorithm for Obstacle Avoidance for Unmanned Surface Vehicle

  • Vo, Anh Hoa;Yoon, Hyeon Kyu;Ryu, Jaekwan;Jin, Taekseong
    • Journal of Ocean Engineering and Technology
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    • v.33 no.6
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    • pp.510-517
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    • 2019
  • Efficient path planning is essential for unmanned surface vehicle (USV) navigation. The A* algorithm is an effective algorithm for identifying a safe path with optimal distance cost. In this study, a modified version of the A* algorithm is applied for planning the path of a USV in a static and dynamic obstacle environment. The current study adopts the A* approach while maintaining a safe distance between the USV and obstacles. Two important parameters-path length and computational time-are considered at various start times. The results demonstrate that the modified approach is effective for obstacle avoidance by a USV that is compliant with the International Regulations for Preventing Collision at Sea (COLREGs).

The Control System Modeling and Experiment for the Tele-operated Unmanned Vehicle

  • Duk sun Yun;Lee, Woon-Sung;Kim, Jung-Ha
    • Journal of Mechanical Science and Technology
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    • v.16 no.10
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    • pp.1253-1263
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    • 2002
  • The control system design and modeling of an unmanned vehicle by means of a new concept for better performance through a tole-operation system is suggested by sensor fusion. But, the control of a real vehicle is very difficult, because the system identification of the vehicle is hard to find the unknown factors and the disturbances of the experimental environment. For the longitudinal and lateral controls, the traction system and steering system models are set up and a tuning method to find the gain of the controller by experiments is presented. In this research, mechanical and electronic parts are implemented to operate the unmanned vehicle and data reconstruction method of information about the environment data coming from several sensors is presented by data plot for the vehicle navigation. This paper focuses on the integration of tole-operated unmanned vehicle. This vehicle mainly controlled lateral and longitudinal directions with actuators for controlling vehicle movement and sensors for the closed-loop controlled system.

An obstacle avoidance system of an unmanned aerial vehicle using a laser range finder

  • Kim, Hyun;Miwa, Masafumi;Shim, Joonhwan
    • Journal of Advanced Marine Engineering and Technology
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    • v.37 no.7
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    • pp.737-742
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    • 2013
  • Recently, unmanned aircrafts for safe measurement in hazardous locations have been developed. In a method of operation of unmanned aircraft vehicles (UAV), there are two methods of manual control and automatic control. Small UAVs are used for low altitude surveillance flights where unknown obstacles can be encountered. Obstacle avoidance is one of the most challenging tasks which the UAV has to perform with high level of accuracy. In this study, we used a laser range finder as an obstacle detector in automatic navigation of unmanned aircraft to patrol the destination automatically. We proposed a system to avoid obstacles automatically by measuring the angle and distance of the obstacle using the laser range finder.

MEMS GPS/INS Navigation System for an Unmanned Ground Vehicle Operated in Severe Environment (극한 무인 로봇 차량을 위한 MEMS GPS/INS 항법 시스템)

  • Kim, Sung-Chul;Hong, Jin-Seok;Song, Jin-Woo
    • Journal of Institute of Control, Robotics and Systems
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    • v.13 no.2
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    • pp.133-139
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    • 2007
  • An unmanned ground vehicle can perform its mission automatically without human control in unknown environment. To move up to a destination in various surrounding situation, navigational information is indispensible. In order to be adopted for an unmanned vehicle, the navigation box is small, light weight and low power consumption. This paper suggests navigation system using a low grade MEMS IMU for supplying position, velocity, and attitude of an unmanned ground vehicle. This system consists of low cost and light weight MEMS sensors and a GPS receiver to meet unmanned vehicle requirements. The sensors are basically integrated by loosely coupled method using Kalman filter and internal algorithms are divided into initial alignment, sensor error compensation, and complex navigation algorithm. The performance of the designed navigation system has been analyzed by real time field test and compared to commercial tactical grade GPS/INS system.