• 제목/요약/키워드: Unmanned Ground Robot

검색결과 37건 처리시간 0.035초

비행로봇의 항공 영상 온라인 학습을 통한 지상로봇 검출 및 추적 (UGR Detection and Tracking in Aerial Images from UFR for Remote Control)

  • 김승훈;정일균
    • 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.

소형 무인 로봇의 소음 측정법 개발 및 측정 장소에 따른 상관성 분석 (Noise Measurement Method Development and Correlation Analysis According to Measurement Location of Small Unmanned Robot)

  • 옥진규;박은주;박민수;이명천
    • 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.

미래전투에 대비한 로봇 요구분석과 개발방향에 대한 연구 (A Study on the Direction of Development and Need Analysis on Robot Providing for Future Combat)

  • 권오상
    • 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.

무인자율차량을 위한 경로계획 알고리즘 및 시뮬레이터 개발 (Developments of a Path Planning Algorithm and Simulator for Unmanned Ground Vehicle)

  • 김상겸;김성균;이용우
    • 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.

모바일화를 위한 지능형 경계로봇의 시뮬레이션기반 설계 (Simulation Based Design of Intelligent Surveillance Robot for Mobility)

  • 황기상;김도현;박규진;박성호;김성수
    • 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.

공중-지상 로봇 협동 기술과 그 응용 및 연구 방향 (Air-Ground Cooperating Robots: Applications and Challenges)

  • 유승은;김대은
    • 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.

무인지상차량을 위한 GPS와 DR을 이용한 항법시스템 (GPS and DR Navigation System for Unmanned 9round Vehicle)

  • 박대선;박정훈;지규인
    • 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.

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드론-지상 하이브리드 로봇 시스템 개발 및 검증 (Development and Verification of UAV-UGV Hybrid Robot System)

  • 우종운;김지훈;성창현;김병우
    • 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.

전장환경에서 무인전투차량의 경로계획 알고리즘설정 영향요인 분석 (An Analysis on the Influential Factors to Set the Path Planning Algorithm for Unmanned Ground Vehicle in Combat Environment)

  • 백종성;이춘주
    • 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.

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충돌 회피가 보장된 분산화된 군집 UGV의 모델 예측 포메이션 제어 (Distributed Model Predictive Formation Control of UGV Swarm Guaranteeing Collision Avoidance)

  • 박성창;이승목
    • 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.