• ETRI Journal
• /
• 제40권4호
• /
• pp.483-498
• /
• 2018

Nowadays, with progresses in robotic science, the design and implementation of a mechanism for human-robot interaction with a low workload is inevitable. One notable challenge in this field is the interaction between a single human and a group of robots. Therefore, we propose a new comprehensive framework for single-human multiple-robot remote interaction that can form an efficient intelligent adaptive interaction (IAI). Our interaction system can thoroughly adapt itself to changes in interaction context and user states. Some advantages of our devised IAI framework are lower workload, higher level of situation awareness, and efficient interaction. In this paper, we introduce a new IAI architecture as our comprehensive mechanism. In order to practically examine the architecture, we implemented our proposed IAI to control a group of unmanned aerial vehicles (UAVs) under different scenarios. The results show that our devised IAI framework can effectively reduce human workload and the level of situation awareness, and concurrently foster the mission completion percentage of the UAVs.

• 한국항공운항학회지
• /
• 제25권4호
• /
• pp.170-176
• /
• 2017

In recent years, Unmanned Aerial Vehicles (UAVs) were actively developed in various fields. In development process of UAVs, flight test is performed to ensure that minimum safety requirements and technical requirements are met. By constructing flight test infrastructure such as takeoff and landing facilities, operation procedure, and equipments, flight test can be performed effectively. In this paper, operation procedures of civil UAV's flight test are proposed. The procedures proposed are composed by two main steps: first, planning and permitting procedure of flight test. Secondly, execution and control procedure of flight test.

• 한국항공운항학회지
• /
• 제26권2호
• /
• pp.47-53
• /
• 2018

In this paper, we investigate a collision avoidance algorithm for unmanned aerial vehicles using potential field based on the relative velocity of obstacles. The potential field consists of the attraction force and the repulsive force that are generated for the target and the obstacles. And the field can be classified into the attractive potential field generated by the target and the repulsive potential field generated by the obstacle, respectively. In this study, we construct an attractive potential field as a function of the distance between the UAV and the target position. On the other hand, a repulsive potential field is created by a function of distance and the relative velocity of the obstacle with respect to the UAV. The proposed potential field based collision avoidance algorithm is evaluate through simulations.

• 한국항공운항학회:학술대회논문집
• /
• 한국항공운항학회 2016년도 춘계학술대회
• /
• pp.228-232
• /
• 2016

유/무인기가 통합되어 운용되는 환경을 고려한 시뮬레이션 시스템 설계 방안을 제시하였다. 기존의 관제 공역 내의 유인기를 대상으로 하는 항공 교통 시뮬레이션 시스템의 기능과 무인기 시스템의 기본적인 기능을 고려하였으며, 이를 기반으로 유/무인기 복합 운용의 새로운 개념을 적용하여 모의할 수 있는 시뮬레이션 환경을 구성하였다. 모의 환경의 확장성을 고려하여, 무인기는 관제 공역에 진입하여 유인기와 복합 운용되는 무인항공기 시스템과 비관제 영역에서 운용되는 소형 무인비행장치로 구분하여 구성하였다. 시뮬레이션 시스템을 구현하기 위한 운용 개념에 대해 서술하였으며, 이를 기반으로 필요로 하는 주요 기능 요소들을 구성하고 각 요소에서 고려되어야 하는 주요 요구 사항을 제시하였다.

• International Journal of Aeronautical and Space Sciences
• /
• 제7권2호
• /
• pp.145-154
• /
• 2006

Many kinds of unmanned aerial vehicles (UAVs) have been developed for a few decades and some of them are now in operational use. Although each UAV as well as a piloted aircraft might have restrictions to execute some tasks simultaneously or to carry some payloads, one with an automatic chase aircraft might have the potential of multi-capabilities to conduct a variety of missions or to carry more storages. This paper introduces a chase UAV control system to enhance a leader (reference) aircraft capability which has storage restriction. The automatic chase guidance and control system will be introduced with the pure pursuit guidance law combined with relative velocity error corrections, and a dynamic inversion technique in order to generate the guidance forces.

• International Journal of Aeronautical and Space Sciences
• /
• 제18권4호
• /
• pp.767-779
• /
• 2017

Automated mission planning for unmanned aerial vehicles (UAVs) is difficult because of the propagation of several sources of error into the solution, as for any large scale autonomous system. To ensure reliable system performance, we quantify all sources of error and their propagation through a mission planner for operation of UAVs in an obstacle rich environment we developed in prior work. In this sequel to that work, we show that the mission planner developed before can be made robust to errors arising from the mapping, sensing, actuation, and environmental disturbances through creating systematic buffers around obstacles using the calculations of uncertainty propagation. This robustness makes the mission planner truly autonomous and scalable to many UAVs without human intervention. We illustrate with simulation results for trajectory generation of multiple UAVs in a surveillance problem in an urban environment while optimizing for either maximal flight time or minimal fuel consumption. Our solution methods are suitable for any well-mapped region, and the final collision free paths are obtained through offline sub-optimal solution of an mTSP (multiple traveling salesman problem).

• International Journal of Aeronautical and Space Sciences
• /
• 제8권1호
• /
• pp.54-65
• /
• 2007

Parameter optimization technique is applied to planning UAVs(Unmanned Aerial Vehicles) path under artificial enemy radar threats. The ground enemy radar threats are characterized in terms of RCS(Radar Cross Section) parameter which is a measure of exposure to the radar threats. Mathematical model of the RCS parameter is constructed by a simple mathematical function in the three-dimensional space. The RCS model is directly linked to the UAVs attitude angles in generating a desired trajectory by reducing the RCS parameter. The RCS parameter is explicitly included in a performance index for optimization. The resultant UAVs trajectory satisfies geometrical boundary conditions while minimizing a weighted combination of the flight time and the measure of ground radar threat expressed in RCS.

• 대한임베디드공학회논문지
• /
• 제8권4호
• /
• pp.205-212
• /
• 2013

In recent, the demand of Unmanned Aerial Vehicles (UAVs) that can autonomous navigation and remote control has been increased in military, civil and commercial field. Particularly, existing researches focused on autonomous navigation method based on vanish point and remote control method based on event processing in indoor environments. However, the existing methods have some problems. For instance, a detected vanish point in intersection point has too much detection errors. In addition, the delay is increased in existing remote control system for processing images in real time. Thus, we propose improved vanish point algorithm by removing detection errors in intersection point. We also develop a remote control system with android platform by separating flying control and image process. Finally, we compare the proposed methods with existing methods to show the improvement of our approaches.

• 한국시뮬레이션학회:학술대회논문집
• /
• 한국시뮬레이션학회 2004년도 춘계학술대회 논문집
• /
• pp.142-147
• /
• 2004

It is very difficult to acquire high-fidelity flight test data for small airplanes such as typical unmanned aerial vehicles because MEMS-type small sensors used in the tests do not present reliable data in general. Besides, it is not practical to conduct expensive flight tests for low-cost small airplanes in order to simulate their flight characteristics. A practical approach to obtain acceptable flight data, including stability and control derivatives and data of weight and balance, is proposed in this study. Aircraft design software such as Darcorp's AAA is used to generate aerodynamic data for small airplanes, and moments of inertia are calculated using CATIA, structural design software. These flight data from simulation software are evaluated subjectively and tailored using simulation flight by experienced pilots, based on the certified procedures in FAA AC 120-45A and 40B, which are used for manned airplane simulators.

• 제어로봇시스템학회논문지
• /
• 제15권1호
• /
• pp.23-30
• /
• 2009

This paper addresses how to make a formation of multiple unmanned aerial vehicles (UAVs) using only the relative range information. Since the relative range can easily be measured by an on-board range sensor like the laser range finder, the proposed method does not require any expensive and heavy wireless communication system to share the navigation information of each vehicle. Based on the two-dimensional (2-D) nonlinear equations of motion, we propose a nonlinear formation controller using the typical input-output feedback linearization method. The performance of the proposed formation controller is verified by various numerical simulations.