• Journal of Institute of Control, Robotics and Systems
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• v.20 no.12
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• pp.1278-1283
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• 2014

This study proposes a NN (Neural Networks)-based adaptive control method for a 6X6 skid-type UGV (Unmanned Ground Vehicle) with 6 in-wheel motors. The UGV experiences lots of uncertainties and, thus, the control performance can degrade significantly without a compensation of the unknown terms. To improve the control performance of the UGV, the NN is utilized to design the adaptive controller. Then, the designed overall force and moment are optimally distributed into 6 traction forces with the assumption that six vertical forces of the UGV are known exactly, because the six traction forces are original source to be excited to the UGV to move. Finally, numerical simulations with the TruckSim model are performed to validate the effectiveness of the proposed approach.

• Journal of the Korea Institute of Military Science and Technology
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• v.13 no.2
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• pp.171-179
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• 2010

A fundamental technology of UGV(Unmanned Ground Vehicle) to perform a given mission with success in various environment is a path planning method which generates a safe and optimal path to the goal. In this paper, we suggest a local path-planning method of UGV based on the binary map using world model data which is gathered from terrain perception sensors. In specially, we present three core algorithms such as shortest path computation algorithm, path optimization algorithm and path smoothing algorithm those are used in the each composition module of LPP component. A simulation is conducted with M&S(Modeling & Simulation) system in order to verify the performance of each core algorithm and the performance of LPP component with scenarios.

• Journal of Institute of Control, Robotics and Systems
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• v.14 no.1
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• pp.27-35
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• 2008

A navigation system is one of the important components of an unmanned ground vehicle (UGV). A GPS receiver collects data signals transmitted by (Earth orbiting) satellites. However, these data signals may contain many errors resulting misinformation and depending on one's position (environment), reception may be impossible. The proposed self-driven algorithm uses three low-cost GPS in order to minimize errors of existing inexpensive single GPS's driving algorithm. By using reliable final data, which is analyzed and combined from each of three GPS's received data signals, gathering a vehicle's steering performance information and its current pin-point position is improved even with error containing signals or from a place where signal gathering is impossible. The purpose of this thesis is to explain navigation system algorithm using multiple GPS and compass sensor and prove the algorithm through experiments.

• Journal of the Korea Institute of Military Science and Technology
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• v.19 no.3
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• pp.404-414
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• 2016

Autonomy of unmanned systems is important because the unmanned system with high level of autonomy is able to perform desired tasks in unstructured environments without continuous human guidance. Evaluation of their autonomy is vital to realize the autonomous operation ability of unmanned system. Compared to the methods of evaluating the level of autonomy(LOA) for an unmanned ground vehicle(UGV) and unmanned aerial vehicle(UAV), the method of expressing the LOA of unmanned maritime system(UMS) is not established yet. Since UMS has a unique characteristics in terms of operational area, mission complexity and required technologies, compared to the UGV and UAV, it is required to establish for expressing the LOA for UMS. This paper reviews the current approaches to assess the LOA of unmanned system and proposes potential metrics for UMS in order to determine the autonomy levels of UMS.

• Journal of the Korea Society for Simulation
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• v.27 no.3
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• pp.89-97
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• 2018

In future warfare, most part of resources and their platforms would be replaced by unmanned system like UGV(Unmanned Ground Vehicle). They are also connected each other with communication network and it is called NCW(Network Centric Warfare) environment. Hence how to measure the effectiveness of UGV operated in NCW circumstance become an important issue. However, there are few research paper to deal with this kind of UGV effectiveness issue coupled with communication failure. In this paper, we proposed a new ABM process to measure the UGV effectiveness combined with communication success ratio based on terrain condition of the ground engagement. Additionally, we also provide the effectiveness analysis result when communication repeater is applied in case of communication failure.

• Journal of the Korea Institute of Military Science and Technology
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• v.8 no.2 s.21
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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.

• Journal of Korean Society for Quality Management
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• v.45 no.3
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• pp.503-520
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• 2017

Purpose: In the near future, it is expected that UGV(unmanned ground vehicle) will be put into battle due to IT technology and unmanned technology development. In this study, we analyze the combat effectiveness considering communication effect where complex combat information and commands are transmitted. Methods: We use ABM(agent-based modeling) and wireless channel module which provides sophisticated communication effect through geographic information and UGV performance. And UGV combat simulation using wireless channel module is used to grasp the combat effectiveness according to the number of packets, which is a unit for storing all information and commands having high complexity. Results: The result of this study is to derive the optimal number of packets which does not decrease the combat effectiveness and the number of lost tanks. The number of packet increases, the survival ratio of our tanks are decreased. Conclusion: In this study, we reveal that the communication success or failure could affect the combat effectiveness. Also, it helps develope the standard communication protocol between UGVs and could be applied to analyze the cost effectiveness analysis in UGV combat environment.

• Journal of Korean Society for Quality Management
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• v.42 no.4
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• pp.591-606
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• 2014

Purpose: The purpose of this study is to design an experimental simulation model for evaluating the UGV(Unmanned Ground Vehicle) effectiveness in a small unit combat scenario. Methods: We design and build a simulation model to evaluate the combat effectiveness of UGV in a small unit combat scenario. In order to build a simulation model, we used AnyLogic software tool which has functional advantages to describe agent-based simulation model. As for the combat scenario, we applied the typical engagement of mechanized unit equal or lower than battalion level. Analysis process follows the three phases. 1) Design an agent based conceptual medel in a small unit combat scenario. 2) Build a simulation medel using AnyLogic tool. 3) Analyze the simulation results and evaluate the UGV effectiveness. Results: The UGV effectiveness was measured and presented as a numeric values. Those numeric values were represented as a MOE(Measure of Effectiveness) which was the blue survival ratio. Conclusion: We developed an agent based simulation model which can provide a pattern of change how UGV effectiveness varied depending upon the number of UGV in a small unit combat scenario. We also found that the UGV effectiveness grows in the given scenario as the number of UGV increases.

• Journal of the Korean Institute of Intelligent Systems
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• v.24 no.3
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• pp.225-232
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• 2014

In this study, a cooperative UAV and UGV platform is proposed to obtain a wide range of visual information. The UAV recognizes a pattern marker on UGV and tracks the UGV without user control. It can provide wide range of visual information for a user in the UGV. The UGV by a user is controled equipped with an aluminum board. And the UAV can take off and land on the UGV. The UAV uses two cameras; one camera is used to recognize a pattern marker and another is used to provide a wide range of visual information to the UGV's user. It is guaranteed that the proposed visual-based approach detects and tracks the target marker on the UGV, and then lands well. The experimental results show that the proposed approach can effectively construct a cooperative UAV/UGV platform for obtaining a wide range of vision information.

• Journal of Auto-vehicle Safety Association
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• v.15 no.4
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• pp.6-15
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• 2023

This paper develops scenarios to evaluate the safety performance of Unmanned Ground Vehicle on military circumstances. The scenarios were created using Pegasus Project 6-layer format. These scenarios consist of straight road, curved road, merging road and crossroad. We adapt these scenarios to unpaved road. The characteristics of unpaved roads were divided into roughness, friction coefficient and road frequency. This adaption is validated via computer simulation. We observe the scan lines of vehicle become tangled of the straight road that make the cognitive abilities of the vehicle low and the lane-keeping is unable when vehicles entering curved off-roads over 40 km/h. The developed scenarios will contribute to enhancing stability from the perspective of introducing autonomous driving technology to Korean military.