• 한국항행학회논문지
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• 제11권2호
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• pp.146-153
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• 2007

무인자동차는 스스로 목적지와 경유지를 찾아서 항행할 수 있는 이동체이다. 이러한 항행의 성능을 보다 정밀하게 향상시키기 위하여 본 논문에서는 관성항법과 GPS를 융합한 확장형 칼만필터를 적용한 보정 알고리즘을 개발하였다. 확장형 칼만필터의 성능을 검증하기 위하여 무인자동차의 실차실험을 실시하고 그 결과로서 필터의 효율성을 확인하였다.

• 센서학회지
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• 제16권4호
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• pp.294-300
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• 2007

Autonomous unmanned vehicle is able to find the path and the way point by itself. For the more precise navigation performance, Extended kalman filter, which is integrated with inertial navigation system and global positioning system is proposed in this paper. Extended kalman filter's performance is evaluated by the simulation and applied to the unmanned vehicle. The test result shows the effectiveness of extended kalman filter for the navigation.

• International Journal of Ocean System Engineering
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• 제1권3호
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• pp.165-170
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• 2011

In this paper, for the accurate estimation of the position and orientation of the UUV (unmanned underwater vehicle), an AHRS (Attitude Heading Reference System) was developed using the IMU (inertial measurement unit) sensor which provides information on acceleration and orientation in the object coordinate and the initial alignment algorithm and the E-KF (extended Kalman Filter). The initial position and orientation of the UUV are estimated using the initial alignment algorithm with 3-axis acceleration and geomagnetic information of the IMU sensor. The position and orientation of the UUV are estimated using the AHRS composed of 3-axis acceleration, velocity, and geomagnetic information and the E-KF. For the performance test of the orientation estimation of the AHRS, a testbed using IMU sensor(ADIS16405) and DSP28335 coded with an E-KF algorithm was developed and its performance was verified through tests.

• International Journal of Ocean System Engineering
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• 제1권4호
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• pp.192-197
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• 2011

This paper describes the mathematical modeling, control algorithm, system design, hardware implementation and experimental test of a Manta-type Unmanned Underwater Vehicle (MUUV). The vehicle has one thruster for longitudinal propulsion, one rudder for heading angle control and two elevators for depth control. It is equipped with a pressure sensor for measuring water depth and Doppler Velocity Log for measuring position and angle. The vehicle is controlled by an on-board PC, which runs with the Windows XP operating system. The dynamic model of 6DOF is derived including the hydrodynamic forces and moments acting on the vehicle, while the hydrodynamic coefficients related to the forces and moments are obtained from experiments or estimated numerically. We also utilized the values obtained from PMM (Planar Motion Mechanism) tests found in the previous publications for numerical simulations. Various controllers such as PID, Sliding mode, Fuzzy and $H{\infty}$ are designed for depth and heading angle control in order to compare the performance of each controller based on simulation. In addition, experimental tests are carried out in a towing tank for depth keeping and heading angle tracking.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2001년도 ICCAS
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• pp.126.2-126
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• 2001

This paper, the integration of driving simulator and unmanned vehicle by means of new concept for better performance through a tele-operated system is suggested. But autonomous system is one of the most difficult research topics from the point of view of several constrains on mobility, speed of vehicle and lack of environmental information. In these days, however, many innovations on the vehicle provide the appropriate automatic control in vehicle subsystem for reducing human error. This tendency is toward to the unmanned vehicle or the tele-operated vehicle ultimately. This paper describes the motion system ...

• 항공우주시스템공학회지
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• 제13권6호
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• pp.36-42
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• 2019

본 논문은 유/무인 항공기 복합운용체계 검증을 위한 시뮬레이션 환경 구축 및 통합 시험에 대하여 다룬다. 유/무인 항공기 지상 시뮬레이션 환경 구축을 위해서 유인기용 시뮬레이터인 X-Plane과 무인기용 시뮬레이터 HILS를 연동하여 상호 복합운영이 가능한지 시뮬레이션으로 검증하였다. 실제 비행시험 전 유/무인 항공기 및 지상통제실 간 C Band 및 UHF 채널을 이용한 통신 가능성을 확인하기 위하여 통신장비를 제작하고 유인 항공기를 이용한 검증을 수행하였다.

• 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.

• 스마트미디어저널
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• 제5권2호
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• pp.51-58
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• 2016

최근 국내는 물론 전 세계적으로 새로운 관심을 끌고 있는 기술은 무인 항공기이며, 과학, 군사, 마케팅, 스포츠, 엔터테인먼트 등 다양한 분야를 가리지 않고 발휘하는 다재다능함이 드론 열풍의 원동력이다. 또한 활용 범위가 광범위한 만큼 향후 산업화된다면 그 잠재력 또한 무궁무진할 것으로 기대된다. 본 논문에서는 무인항공기 기반의 빅데이터 처리 시스템의 프로토타입을 설계 및 제안 하였다.

• 로봇학회논문지
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• 제16권3호
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• pp.216-222
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• 2021

Recently, various robots are being used for the purpose of structural inspection or safety diagnosis, and their needs are also rising rapidly. Among the structural inspection using robots, a lot of researches has recently been conducted on inspection of various facilities and structures using an unmanned aerial vehicle (UAV). However, since GNSS (Global Navigation Satellite System) signals cannot be received in an environment near or below structures, the operation of UAVs has been done manually. For a stable autonomous flight without GNSS signals, additional technologies are required. This paper proposes the autonomous flight system for structural inspection consisting of simultaneous localization and mapping (SLAM), path planning, and controls. The experiments were conducted on an actual large bridge to verify the feasibility of the system, and especially the performance of the proposed SLAM algorithm was compared through comparative analysis with the state-of-the-art algorithms.

• 한국자동차공학회논문집
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• 제19권4호
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• pp.8-15
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• 2011

This paper proposes a real-time navigation algorithm which integrates the artificial potential field (APF) for an unmanned vehicle in the unknown environment. This approach uses repulsive potential function around the obstacles to force the vehicle away and an attractive potential function around the goal to attract the vehicle. In this research, laser range finder is used as range sensor. An obstacle detected by the sensor creates repulsive vector. Differential global positioning system (DGPS) and digital compass are used to measure the current vehicle position and orientation. The measured vehicle position is also used to create attractive vector. This paper proposes a new concept of potential field based navigation which controls unmanned vehicle's speed and steering. The magnitude of repulsive force based on the proposed algorithm is designed not to be over the magnitude of attractive force while the magnitude is increased linearly as being closer to obstacle. Consequently, the vehicle experiences a generalized force toward the negative gradient of the total potential. This force drives the vehicle downhill towards its goal configuration until the vehicle reaches minimum potential and it stops. The effectiveness of the proposed APF for unmanned vehicle is verified through simulation and experiment.