• Journal of Institute of Control, Robotics and Systems
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• v.14 no.8
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• pp.809-817
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• 2008

This paper describes an obstacle detecting system of an unmanned ground vehicle (UGV). The unmanned ground vehicle is consists of several systems such as vehicle control system, navigation system, obstacle detecting system and integration system. Among these systems, the obstacle detecting system is a driving assistance system of UGV. Through the UGV is driving, the system detects obstacles such as cars, human, tree, curb and hills and then send information of obstacles position to integration system for safety driving. In this research, the obstacle detecting system is composed of 5 laser scanners and develop algorithms of detecting obstacles, curb, uphill and downhill road.

• Journal of Korean Institute of Industrial Engineers
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• v.40 no.4
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• pp.388-395
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• 2014

Nowadays unmanned ground systems are used in supporting of surveillance and explosive ordnance disposal. Also, we expect that will be used to remarkably enhance combat capability through network-based cooperative operations with other combat systems. In order to effectively develop those unmanned systems, we needs a systematic method to analyze combat effectiveness and validate required operation capabilities. In this paper, we propose a practical approach to simulate remote-operated unmanned ground systems by using OneSAF, an US-Army simulation framework. First of all, we design a simulation model of unmanned system by integrating with core components for wireless communications and remote control of mobility and fire. Next, we extend OneSAF functionality to create communication links that connects a remote controller with an unmanned vehicle and define a simulated behavior to operate unmanned vehicles via the communication links. Finally, we demonstrate the feasibility of the proposed model within OneSAF and summarize system effectiveness analysis results.

• 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.

• Journal of the Korea Institute of Military Science and Technology
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• v.16 no.2
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• pp.95-100
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• 2013

Localization is very important for the autonomous navigation of Unmanned Ground Vehicles; however, it is difficult that they have a precise Inertial Navigation System(INS) sensor, especially Small Unmanned Ground Vehicle(SUGV). Moreover, there are some condition such as denial of global position system(GPS), GPS/INS integrated system is not robust. This paper proposes the estimation algorithm with optical flow sensor and INS. Being compared with previous researches, the proposed algorithm is suitable for skid steering vehicles. We revised the measurement model of previous research for the accuracy of side direction position. Experimental results were performed to verify the algorithm, and the result showed an excellent performance.

• International Journal of Advanced Culture Technology
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• v.11 no.1
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• pp.159-164
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• 2023

This study is for manned-unmanned teaming battles for future ground combat victories. The composition of the study is as follows. The introduction to Chapter 1 presents the necessity of this study from a macro perspective, Chapter 2, the review of the complex combat system for both manned and unmanned introduced the paradigm shift of the future battlefield and the cyber area that is superconnected to the network in future wars. Chapter 3 analyzed the combined combat system of manned-unmanned teaming in advanced military countries through the cases of the United States and Israel. In Chapter 4, after discussing the direction of the development of combat performance of the Korean Army, was concluded in Chapter 5. In other words, the purpose of this study is that as the concept of fighting artificial intelligence robots and military innovation changes, the method of performing battles must be changed in order for our military to win the battle.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.21 no.10
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• pp.1879-1885
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• 2017

This paper discusses the trajectory tracking system of unmanned ground vehicles based on predictive control. Because the unmanned ground vehicles can not satisfactorily complete the path tracking task, highly efficient and stable trajectory control system is necessary for unmanned ground vehicle to be realized intelligent and practical. According to the characteristics of unmanned vehicle, this paper built the kinematics tracking models firstly. Then studied algorithm solution with the tools of the optimal stability analysis method and proposed a tracking control method based on the model predictive control. The controller used a kinematics-based prediction model to calculate the predictive error. This controller helps the unmanned vehicle drive along the target trajectory quickly and accurately. The designed control strategy has the true robustness, simplicity as well as generality for kinematics model of the unmanned vehicle. Furthermore, the computer Simulink/Carsim results verified the validity of the proposed control method.

• Journal of Aerospace System Engineering
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• v.17 no.6
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• pp.133-143
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• 2023

This paper describes the system integration laboratory's requirement analysis, implementation, and verification for multiple-scenario unmanned aerial vehicle operation and control technology using a manned rotorcraft for Manned-Unmanned Teaming. System integration laboratory consists of manned rotorcraft flight simulation, unmanned aerial vehicle flight and mission equipment simulation, ground control system simulation for unmanned aerial vehicle control and change in the control authority between the ground control system and manned rotorcraft, and operation and control system for mission plan's writing and transmission. Each implemented simulation verified the requirements through software and hardware integration test.

• Journal of the Korean Society of Industry Convergence
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• v.13 no.2
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• pp.85-92
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• 2010

This study shows the path generation algorithm for an UGV (Unmanned Ground Vehicle). The developed UGV frame which has a 4-wheel driven mechanism and diesel source is applied. Proposed vehicle system in this research is aimed to military purpose. To achieve the unmanned autonomous driving, following two main issues are considered. First, behavior module for positioning and posture of vehicle system and second, cognition module to receive the information from environment are proposed and verified. To do this, rover which can acquire the positioning information from earth coordinate and IMU (Inertial Measurement Unit) which can measure the posture are combined to design the path planning algorithm.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.40 no.9
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• pp.800-806
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• 2012

This paper proposes design and development of the Integrated Ground Support System (IGSS) for the flight test of the Unmanned Aerial Vehicle (UAV), which combines ground support and ground control. The integrated flight test of the UAV is a necessary procedure to validate the functionality of the Unmanned Aerial System (UAS). In order to execute cost-effective and systematic flight tests, the IGSS is regarded as an inevitable infrastructure of UAS for small laboratories. The proposed IGSS has functions of ground control, radio communication, power generation, transportation and the maintenance of the UAV.

• Journal of Institute of Control, Robotics and Systems
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• v.14 no.9
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• pp.873-880
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• 2008

This paper deals with the peer-to-peer data communication to connect each distributed levels of developed unmanned system according to the JAUS. The JAUS is to support the acquisition of unmanned system by providing a mechanism for reducing system life-cycle costs. Each of distributed levels of the JAUS protocol divides into a system, some of subsystems, nodes and components/instances, each of which may be independent or interdependence. We have to distribute each of the levels because high performance is supported in order to create several sub-processor computing data in one processor with high CPU speed performance. To complement such disadvantage, we must think the concept that a distributed processing agrees with separating each of levels from the JAUS protocol. Therefore, each of distributed independent levels send data to another level and then it has to be able to process the received data in other levels. So, peer-to-peer communication has to control a data flow of distributed levels. In this research, we explain each of levels of the JAUS and peer-to-peer communication structure among the levels using our developed unmanned ground vehicle.