• 로봇학회논문지
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• 제10권2호
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• pp.104-111
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• 2015

In this paper, we proposed visual information to provide a highly maneuverable system for a tele-operator. The visual information image is bird's eye view from UFR(Unmanned Flying Robot) shows around UGR(Unmanned Ground Robot). We need UGV detection and tracking method for UFR following UGR always. The proposed system uses TLD(Tracking Learning Detection) method to rapidly and robustly estimate the motion of the new detected UGR between consecutive frames. The TLD system trains an on-line UGR detector for the tracked UGR. The proposed system uses the extended Kalman filter in order to enhance the performance of the tracker. As a result, we provided the tele-operator with the visual information for convenient control.

• 한국군사과학기술학회지
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• 제20권5호
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• pp.633-638
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• 2017

The small unmanned robot developed in this paper can perform tasks such as surveillance and reconnaissance in the battle field. The noise generated during the operation of the robot may expose the operation area. Therefore, in this study, we developed a method to quantitatively measure the noise of the developed small unmanned ground robot. The criteria for noise measurement in indoor and outdoor are presented. It was used for statistical verification method to verify the reliability of the developed noise measurement method. The noise was measured at different places, and the correlation was analyzed. Thus, we proposed a method to predict the noise level in the operation area where the robot is operated by the noise test data measured during the development process.

• 한국군사과학기술학회지
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• 제8권2호
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• pp.5-13
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• 2005

The use of robot is no longer limited in the industrial scene, and becoming expanded toward many aspects of human life. Especially, military robot closely concerned with our lives seems to advance more and more in the future. As a need analysis for developing military robot, this project conducted a poll about Unmanned Reconnaissance Robot, and on the basis of the result, I suggested 3 directions of developing UGV(Unmanned Ground Vehicle) suitable to strategic environment of Korea.

• 한국자동차공학회논문집
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• 제15권3호
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• pp.1-9
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• 2007

A major concern for Autonomous Military Robot in the rough terrain is the problem of moving robot from an initial configuration to goal configuration. In this paper, We generate a local path to looking for the best route to move an goal configuration while avoiding known obstacle from world model, not violating the mobility constraints of robot. Trough a Simulator for Unmanned Autonomous Vehicle, We can simulate a traversability of unmanned autonomous vehicle based on steering, acceleration, braking command obtained from local path planning.

• 대한기계학회논문집A
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• 제32권4호
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• pp.340-346
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• 2008

An unmanned surveillance robot consists of a machine gun, a laser receiver, a thermal imager, a color CCD camera, and a laser illuminator. It has two axis control systems for elevation and azimuth. Because the current robot system is mounded at a fixed post to take care of surveillance tasks, it is necessary to modify such a surveillance robot to be installed on an UGV (Unmanned Ground Vehicle) system in order to watch blind areas. Thus, it is required to have a stabilization system to compensate the disturbance from the UGV. In this paper, a simulation based design scheme has been adopted to develop a mobile surveillance robot. The 3D CAD geometry model has first been produced by using Pro-Engineer. The required pan and tilt motor capacities have been analyzed using ADAMS inverse dynamics analysis. A target tracking and stabilization control algorithm of the mobile surveillance robot has been developed in order to compensate the motion of the vehicle which will experience the rough terrain. To test the performance of the stabilization control system of the robot, ADAMS/simulink co-simulations has been carried out.

• 제어로봇시스템학회논문지
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• 제16권2호
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• pp.101-106
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• 2010

Researches on air-ground robot cooperating system has been made recently. The cooperation among homogeneous robots focused on the architecture of the system, quality and influence of the communication. In contrast, the cooperation among heterogeneous robots such as aerial vehicle and ground vehicle robots has not been much handled. There are a couple of main points for those air-ground cooperating robots. One is using UAV (Unmanned Aerial Vehicle) as an extra sensor of UGV (Unmanned Ground Vehicle). This kind of application is usually used in situations such as guiding UGV to an appropriate path which could be better determined from the eye in the sky as UAV. The other main application of air-ground cooperating robot system is the localization. By combining sensor information from both UAV and UGV, the robot system as a whole can localize a target object or find features in the environment with better performance than UGV or UAV alone. Although these applications are recently studied in many different ways and devices, there are still a lot of possibilities in the field of air-ground cooperating robot systems. We introduce those research fields in this paper.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2000년도 제15차 학술회의논문집
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• pp.75-75
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• 2000

Recently, number of navigation system using GPS and other complementary sensors has been developed to offer high-position accuracy. In this paper, an integration of GPS and Dead-Reckoning, which consists of a fiber optical gyroscope and two high-precision wheel-motor encoders for a unmanned navigation system, is presented. The main objective of this integrated GPS/DR unmanned navigation system is to provide accurate position and heading navigation data continuously for autonomous mobile robot. We propose a method for increasing the accuracy of the estimated position of the mobile robot by its DR sensors, high-precision wheel-motor encoders and a fiber optical gyroscope. We used Kalman filter theory to combine GPS and DR measurements. The performance of GPS/DR navigation system is evaluated.

• 로봇학회논문지
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• 제18권3호
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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.

• 로봇학회논문지
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• 제4권3호
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• pp.233-242
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• 2009

This paper briefly reviews the path planning methods that are applicable to the autonomous mobile robots for the military. Two distinct path search algorithms, $A^*$ and $D^*$ that are most popular and flexible in public applications, among those reviewed are coded and analyzed in terms of combat environment assessment factors called METT+TC for the area of operations. The results imply that it is important to consider the characteristics of defense acquisition process and the specific requirements of defense operation so that the successful technology development of the Robot products is directly linked to the defense procurement of Robot products.

• 대한임베디드공학회논문지
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• 제17권2호
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• pp.115-121
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• 2022

This paper proposes a distributed model predictive formation control algorithm for a group of unmanned ground vehicles (UGVs) with guaranteeing collision avoidance between UGVs. Generally, the model predictive control based formation control has a disadvantage in that it takes a long time to compute control inputs when considering collision avoidance between UGVs. In this paper, in order to overcome this problem, the formation control algorithm is implemented in a distributed manner so that it could be individually controlled. Also, a collision-avoidance method considering real-time is proposed. The proposed formation control algorithm is implemented based on robot operating system (ROS), open source-based middleware. Through the various simulation tests, it is confirmed that the formation control of five UGVs is successfully performed while avoiding collisions between UGVs.