• 한국자동차공학회논문집
• /
• 제15권3호
• /
• pp.1-9
• /
• 2007

A major concern for Autonomous Military Robot in the rough terrain is the problem of moving robot from an initial configuration to goal configuration. In this paper, We generate a local path to looking for the best route to move an goal configuration while avoiding known obstacle from world model, not violating the mobility constraints of robot. Trough a Simulator for Unmanned Autonomous Vehicle, We can simulate a traversability of unmanned autonomous vehicle based on steering, acceleration, braking command obtained from local path planning.

• 제어로봇시스템학회논문지
• /
• 제16권2호
• /
• pp.101-106
• /
• 2010

Researches on air-ground robot cooperating system has been made recently. The cooperation among homogeneous robots focused on the architecture of the system, quality and influence of the communication. In contrast, the cooperation among heterogeneous robots such as aerial vehicle and ground vehicle robots has not been much handled. There are a couple of main points for those air-ground cooperating robots. One is using UAV (Unmanned Aerial Vehicle) as an extra sensor of UGV (Unmanned Ground Vehicle). This kind of application is usually used in situations such as guiding UGV to an appropriate path which could be better determined from the eye in the sky as UAV. The other main application of air-ground cooperating robot system is the localization. By combining sensor information from both UAV and UGV, the robot system as a whole can localize a target object or find features in the environment with better performance than UGV or UAV alone. Although these applications are recently studied in many different ways and devices, there are still a lot of possibilities in the field of air-ground cooperating robot systems. We introduce those research fields in this paper.

• 한국군사과학기술학회지
• /
• 제8권2호
• /
• pp.5-13
• /
• 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.

• 대한기계학회논문집A
• /
• 제32권4호
• /
• pp.340-346
• /
• 2008

An unmanned surveillance robot consists of a machine gun, a laser receiver, a thermal imager, a color CCD camera, and a laser illuminator. It has two axis control systems for elevation and azimuth. Because the current robot system is mounded at a fixed post to take care of surveillance tasks, it is necessary to modify such a surveillance robot to be installed on an UGV (Unmanned Ground Vehicle) system in order to watch blind areas. Thus, it is required to have a stabilization system to compensate the disturbance from the UGV. In this paper, a simulation based design scheme has been adopted to develop a mobile surveillance robot. The 3D CAD geometry model has first been produced by using Pro-Engineer. The required pan and tilt motor capacities have been analyzed using ADAMS inverse dynamics analysis. A target tracking and stabilization control algorithm of the mobile surveillance robot has been developed in order to compensate the motion of the vehicle which will experience the rough terrain. To test the performance of the stabilization control system of the robot, ADAMS/simulink co-simulations has been carried out.

• 제어로봇시스템학회:학술대회논문집
• /
• 제어로봇시스템학회 2000년도 제15차 학술회의논문집
• /
• pp.75-75
• /
• 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.

• 로봇학회논문지
• /
• 제4권3호
• /
• pp.233-242
• /
• 2009

This paper briefly reviews the path planning methods that are applicable to the autonomous mobile robots for the military. Two distinct path search algorithms, $A^*$ and $D^*$ that are most popular and flexible in public applications, among those reviewed are coded and analyzed in terms of combat environment assessment factors called METT+TC for the area of operations. The results imply that it is important to consider the characteristics of defense acquisition process and the specific requirements of defense operation so that the successful technology development of the Robot products is directly linked to the defense procurement of Robot products.

• 대한임베디드공학회논문지
• /
• 제6권3호
• /
• pp.124-131
• /
• 2011

There are many researches in unmanned vehicles such as UGV(Unmanned Ground Vehicle), AUV(Autonomous Underwater Vehicle). In these researches, differential wheeled mobile robots are mainly used to develop the experimental stage algorithm because of the simplicity of modeling and control. Usually a commercial product used in the study, but in order to operate a commercial product to the restrictions because there would need to use a fixed protocol. Using the microprocessor makes the internal sensors(encoder and INS) and external sensors(ultrasonic sensors, infrared sensors) operate and to determine commands for robot operation. This paper propose a mobile robot design for suitable purpose.

• 로봇학회논문지
• /
• 제18권3호
• /
• pp.233-240
• /
• 2023

In this paper, we proposed a hybrid type robot that simultaneously surveillance and reconnaissance on the ground and in the air. It was possible to expand the surveillance and reconnaissance range by expanding the surveillance and reconnaissance area of the ground robot and quickly moving to the hidden area through the drone. First, ground robots go to mission areas through drones and perform surveillance and reconnaissance missions for urban warfare or mountainous areas. Second, drones move ground robots quickly. It transmits surveillance and reconnaissance images of ground robots to the control system and performs reconnaissance missions at the same time. Finally, in order to secure the interoperability of these hybrid robots, basic performance and environmental performance were verified. The evaluation method was tested and verified based on the KS standards.

• 융합신호처리학회논문지
• /
• 제9권3호
• /
• pp.230-237
• /
• 2008

최근 국내외에서 무인 자동차용 로봇 개발에 관한 많은 관심과 개발 경쟁이 한층 더해가고 있다. 그러나 무인 자동차용 로봇을 효과적으로 제어하기 위한 표준화된 아키텍쳐의 부재로 개발 기간의 장기화 되고, 다른 무인 자동차용 로봇과 호환성이 저하되는 어려움이 많았다. 따라서 본 논문에서는 무인 자동차용 로봇 표준 아키텍쳐인 JAUS 기반으로 모바일 로봇을 원격 제어하는 시스템을 구현하였다. 구현된 모바일 로봇은 무선 LAN UDP/IP 프로토콜 기반으로 JAUS 명령 메시지를 사용해서 원격제어시스템과 통신한다. 본 연구의 유효성은 구현 로봇의 주행 및 장애물인식 성능에 대한 실험적 결과를 통해 보여진다.

• 한국통신학회논문지
• /
• 제42권1호
• /
• pp.205-213
• /
• 2017

본 논문은 국방로봇의 하나인 무인지상차량이 자율주행 시 요구되는 기능수준을 도출하기 위한 방법에 대한 연구이다. 기존의 무기체계는 운용환경에 크게 영향을 받지 않는 반면 국방로봇은 동일한 플랫폼이라 할지라도 운용환경 변화에 따라 다른 성능이 표출된다. 만약 운용제대에 따라 무기체계인 국방로봇의 성능이 각각 다르게 발현된다면 임무수행의 결과는 달라질 것이다. 그러므로 소요군은 국방로봇에 요구하는 기능의 수준을 명확히 도출해야 최적의 국방로봇을 연구개발 할 수 있다. 본 논문에서는 국방로봇의 주요 기능 중 하나인 자율주행을 중심으로 하여 무인지상차량의 요구기능수준을 도출하는 방법을 제시하였다. 소요군 내 각 운용제대별로 무인지상차량이 자율주행 시 요구되는 기능의 수준을 평가 할 수 있는 문항과 운용자의 개입정도에 따른 자율주행 기능의 요구수준을 나타내었으며, 더불어 여러 운용환경에 따른 변수 중에서 지상 환경에 대한 수준을 제시하였다.