• Journal of Institute of Control, Robotics and Systems
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• v.10 no.2
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• pp.139-144
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• 2004

The flight control system designed for an unmanned airship, which is under development by KARI, is in reduced. First, the dynamic characteristics of the airship are addressed, which are fairly different from those of the nominal aircraft. In order to implement autonomous flight for the unmanned airship, flight control logic is designed including autopilot and guidance law. The autopilot is designed under consideration of the velocity region of the unmanned airship. The guidance laws are implemented in main operational modes such as point navigation, station keeping and spiral up/down for emergency return. Their simulation results are also presented in order to validate performances of the flight control system.

• Transactions of the Korean Society of Automotive Engineers
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• v.11 no.5
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• pp.183-192
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• 2003

Obstacle detection and avoidance are considered as one of the key technologies on an unmanned vehicle system. In this paper, we propose a method of obstacle detection and avoidance and it is composed of vehicle control, modeling, and sensor experiments. Obstacle detection and avoidance consist of two parts: one is longitudinal control system for acceleration and deceleration and the other is lateral control system for steering control. Each system is used for unmanned vehicle control, which notes its location, recognizes obstacles surrounding it, and makes a decision how fast to proceed according to circumstances. During the operation, the control system of the vehicle can detect obstacles and perform obstacle avoidance on the road, which involves vehicle velocity. In this paper, we propose a method for vehicle control, modeling, and obstacle avoidance, which are evaluated through road tests.

• 제어로봇시스템학회:학술대회논문집
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• 1996.10b
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• pp.1079-1082
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• 1996

Automatic control systems for warehouse composed of unmanned crane system and vision system. Unmanned crane system is introduced to reject oscillations of a load suspended from a trolley at a moment of its arrival at its target position. And vision system is applied to find out the coordinates of coils on trucks using image processing.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.18 no.2
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• pp.437-444
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• 2014

The unmanned ship control system controls the unmanned ship at a distance in ocean. Expecially, in order to control the unmanned ship, it needs the wireless communication networks and we use the IEEE 802.11 based WLAN. The IEEE 802.11 based WLAN technology for supporting a wide bandwidth is suitable for unmanned ship control system which has to transmit the multimedia data. First, we design the system structure for controlling the unmanned ship. Then, in order to overcome the limited communication area, we design the network structure for the unmanned ship communication network which can use a various communication network. we implemented and evaluated the unmanned ship system based on WLAN. We controlled the unmanned ship by use the WLAN and confirmed the signal feature of WLAN in the ocean.

• Journal of Institute of Control, Robotics and Systems
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• v.20 no.12
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• pp.1181-1188
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• 2014

In this paper, we propose a novel concept foran unmanned delivery service using a cooperative heterogeneous unmanned system consisting of a self-driving car and an unmanned aerial vehicle (UAV). The proposed concept is suitable to deliver parcels in high-density and high-rise urban or residential areas. In order to achieve the proposed concept, we will develop acooperative heterogeneous unmanned system. Customers can order goods using a smartphone application and the order information, including the position of the customer and the order time, and the package is transported automatically by the unmanned systems. The system assigns the tasks suitable for each unmanned vehicle by analyzing it based on map information. Performance is validated by experiments consisting of autonomous driving and flight tests in a real environment. For more evaluation, the landing position error analysis is performed using circular error probability (CEP).

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 2018.10a
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• pp.44-46
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• 2018

In this paper, we design a system that can control unmanned mobile objects through communication between unmanned mobile object and control server system using LoRa network which is a dedicated IoT network. It is more efficient when the unmanned mobile object performs the special work by installing the LoRa network applied to the unmanned mobile object control system from the small space house or office hospital to the factory. In this paper, we will discuss the design of a system that can improve the social utilization of unmanned mobile objects by making it possible to communicate the events that occur around other mobile objects from the simplification of the navigation path.

• 제어로봇시스템학회:학술대회논문집
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• 2005.06a
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• pp.265-270
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• 2005

This paper presents a new attitude stabilization and control of an unmanned helicopter based on neural network compensation. A systematic derivation on the dynamics of an unmanned small-scale helicopter is performed. Combined rotor-fuselage-tail dynamics is derived in body-fixed reference frame with its origin at the C.G. of the helicopter. And the resulting nonlinear equation of motion consists of 6-DOF air vehicle dynamics as well as the rotor flapping and engine torque equations. A simulation model was modified using the existing simulator for an unmanned helicopter dynamic model, which reflects the unmanned test helicopter(CNUHELI). The dynamic response of the refined model was compared with the flight test data. It can be shown that a good coincidence was accomplished between the real unmanned helicopter system and the mathematical model. This dynamic model was linearized for classical controller design using small perturbation method. A Neuro-PD control system was designed for both longitudinal and lateral flight modes, and the results were compared with the PD-only control response. Simulation results show that the proposed Neuro-PD control system demonstrates better performance.

• International Journal of Automotive Technology
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• v.4 no.4
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• pp.173-180
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• 2003

Obstacle avoidance is considered as one of the key technologies in an unmanned vehicle system. In this paper, we propose a method of obstacle avoidance, which can be expressed as vehicle control, modeling, and sensor experiments. Obstacle avoidance consists of two parts: one longitudinal control system for acceleration; and deceleration and a lateral control system for steering control. Each system is used for unmanned vehicle control, which notes its location, recognizes obstacles surrounding it, and makes a decision how fast to proceed according to circumstances. During the operation, the control strategy of the vehicle can detect obstacles and perform obstacle avoidance on the road, which involves vehicle velocity. The method proposed for vehicle control, modeling, and obstacle avoidance has been confirmed through vehicle tests.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2000.05a
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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

• Journal of Institute of Control, Robotics and Systems
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• v.10 no.2
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• pp.131-138
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• 2004

Automatic flight control system (AFCS) for a low-cost unmanned aerial vehicle is described in this paper. Development process and block diagram of the AFCS are introduced. The flight control law for longitudinal and lateral channel autopilot is designed using optimization process. In this procedure, the performance index is composed of desired location of closed loop system poles and H$_2$norm of the resultant flight control system. This procedure is applied to the autopilot design of an unmanned target vehicle. Performance of the AFCS is evaluated by processor-in-the-loop simulation test and flight test. These results show that the AFCS has acceptable performance fur low cost UAV.