• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2005년도 ICCAS
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• pp.915-919
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• 2005

It is materialized an unmanned vehicle system as a part of Intelligent Transportation System (ITS) which is a fundamental constituent for unmanned vehicle. Remote control system, monitoring system and remote operating system which are consisted of unmanned vehicle system. Network program by TCP/IP socket, and real-time control & operating controlled by servo-motors from a remote place, those are used to verify safety and stability of the unmanned vehicle system in this research. This unmanned vehicle is divided into two major sections which are an unmanned vehicle part and control station part. The server PC is installed on the unmanned vehicle and a client PC is installed at a remote place, which can control the u manned vehicle. In this research work, main theme is that we experimented and tested to check the speed and utilization of the wireless LAN communication.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2004년도 ICCAS
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• pp.1550-1554
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• 2004

This paper deals with an unmanned vehicle system configuration using all terrain vehicle. Many research institutes and university study and develop unmanned vehicle system and control algorithm. Now a day, they try to apply unmanned vehicle to use military device and explore space and deep sea. These unmanned vehicles can help us to work is difficult task and approach. In the previous research of unmanned vehicle in our lab, we used 1/10 scale radio control vehicle and composed the unmanned vehicle system using ultrasonic sensors, CCD camera and kinds of sensor for vehicle's motion control. We designed lane detecting algorithm using vision system and obstacle detecting and avoidance algorithm using ultrasonic sensor and infrared ray sensor. As the system is increased, it is hard to compose the system on the 1/10 scale RC car. So we have to choose a new vehicle is bigger than 1/10 scale RC car but it is smaller than real size vehicle. ATV(all terrain vehicle) and real size vehicle have similar structure and its size is smaller. In this research, we make unmanned vehicle using ATV and explain control theory of each component

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2003년도 ICCAS
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• pp.487-490
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• 2003

In this research, we will devise an obstacle avoidance algorithm for a previously unmanned vehicle. Whole systems consist mainly of the vehicle system and the control system. The two systems are separated; this system can communicate with the vehicle system and the control system through wireless RF (Radio Frequency) modules. These modules use wireless communication. And the vehicle system is operated on PIC Micro Controller. Obstacle avoidance method for unmanned vehicle is based on the Virtual Force Field (VFF) method. An obstacle exerts repulsive forces and the lane center point applies an attractive force to the unmanned vehicle. A resultant force vector, comprising of the sum of a target directed attractive force and repulsive forces from an obstacle, is calculated for a given unmanned vehicle position. With resultant force acting on the unmanned vehicle, the vehicle's new driving direction is calculated, the vehicle makes steering adjustments, and this algorithm is repeated.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2000년도 제15차 학술회의논문집
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• pp.139-139
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• 2000

The subject of this paper is the tole operation for unmanned vehicle. The aim is studied in context of motor control system and algorithms for the mid to low level control of tele operation unmanned vehicle described. Modern, vehicle related researches have been implemented about control, chassis, body and safe쇼 but now is to driving comfort, I.T.S. and human factor, etc. As a result of this fact, unmanned vehicle is main research topic over the world but it is still very expensive and unreasonable. A hierarchical approach is studied in context of motor control system and algorithms for the mid to low level control of tele operation unmanned vehicle described. The real time control and monitoring of longitudinal, lateral, Pitching motion is to be solved by system integration and optimization technique. We show the experimental result about fixed brake range test and acceleration test. And all system is to integrated for driving simulator and unmanned vehicle.

• Journal of Mechanical Science and Technology
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• 제16권10호
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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.

• 융합보안논문지
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• 제19권4호
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• pp.97-105
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• 2019

니콜라 테슬라에 의해 항공기의 무선제어 가능성이 제시되면서 출현한 무인항공기는 제 1, 2차 세계대전을 통해 항공력의 급속한 발전과 함께 군사, 방산용으로 사용하게 되었다. 2000년대, 무인항공기의 분야가 촬영, 배송, 통신 등 민간분야까지 확대됨에 따라 여러 서비스와 융합되어 활용되고 있다. 하지만, 최근 무인항공기 시스템에서의 통신이나 무인항공기 자체의 보안 취약점을 이용하여 GPS 스푸핑, 전파 교란 공격 등을 시도하는 보안사고가 발생하고 있다. 이에, 안전한 무인항공기의 도입을 위하여 국내에서는 자체 무인항공기 검증 제도인 감항 인증 제도가 마련되었다. 그러나 감항 인증 제도는 무인항공기의 보안성보다는 시험 비행, 설계 및 물리적 구조의 안전성과 인증하는 쪽에 초점이 맞추어져 있다. 보안성 높은 안전한 무인항공기의 도입을 위해 본 논문에서는 무인항공기 시스템 모델을 제안하고 데이터 흐름도를 작성하였다. 작성한 데이터 흐름도를 바탕으로 무인항공기 시스템에서의 위협을 도출하였고, 도출한 위협을 방지할 수 있는 보안기능요구사항을 개발하였다. 제안한 보안기능요구사항을 통해 향후 무인항공기의 안전한 도입을 위한 앞으로의 평가, 검증 기술의 발전 방향을 제시한다.

• 한국항공우주학회지
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• 제33권10호
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• pp.104-110
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• 2005

본 논문에서는 보다 빠른 속도의 무인주행과 이를 가능케하는 안전한 항법구현에 주력하여 시스템을 개발하고 알고리즘을 적용한 결과를 보이고 있다. 또한 본 논문에서는 9개의 초음파 센서를 사용하여 가상역장 알고리즘을 적용한 험로주행용 차량의 무인주행에 적용한 시스템의 구성과 적용방법을 기술하고 실차실험을 통한 시스템의 성능과 향후 연구방향을 제시하였다.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2000년도 춘계학술대회 논문집
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• pp.587-590
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• 2000

By using the information obtained from output of the MR(Magneto Resistive) sensor for an unmanned vehicle system which is used in the Local Position System. We develop an algorithm that decides the distance and directions between the guideline made by magnets and vehicle, and make an unmanned vehicle driving system that is steered by PD controller and MR sensor

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2000년도 제15차 학술회의논문집
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• pp.6-6
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• 2000

By using the information obtained from the outputs of MR(MagnetoResistive) sensors for an Unmanned Vehicle Driving System, we develop an algorithm that decides the distance and direction between vehicle and the guideline which is made by the magnet. To improve the robust tracking properties of the closed loop system, we introduce H$\infty$ controller and its application for the Unmanned Vehicle Driving System.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2003년도 ICCAS
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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.