• Title/Summary/Keyword: unmanned driving

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A Study on Requirement Analysis of Unmanned Combat Vehicles: Focusing on Remote-Controlled and Autonomous Driving Aspect (무인전투차량 요구사항분석 연구: 원격통제 및 자율주행 중심으로)

  • Dong Woo, Kim;In Ho, Choi
    • Journal of the Korean Society of Systems Engineering
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    • v.18 no.2
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    • pp.40-49
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    • 2022
  • Remote-controlled and autonomous driving based on artificial intelligence are key elements required for unmanned combat vehicles. The required capability of such an unmanned combat vehicle should be expressed in reasonable required operational capability(ROC). To this end, in this paper, the requirements of an unmanned combat vehicle operated under a manned-unmanned teaming were analyzed. The functional requirements are remote operation and control, communication, sensor-based situational awareness, field environment recognition, autonomous return, vehicle tracking, collision prevention, fault diagnosis, and simultaneous localization and mapping. Remote-controlled and autonomous driving of unmanned combat vehicles could be achieved through the combination of these functional requirements. It is expected that the requirement analysis results presented in this study will be utilized to satisfy the military operational concept and provide reasonable technical indicators in the system development stage.

H$\infty$ Steering Control of an Unmanned Vehicle Driving System by the MR sensors (MR 센서를 이용한 무인 자동 시스템의 H$\infty$ 조향 제어)

  • 박기선;김창섭;이영진;윤강섭;배종일;이만형
    • 제어로봇시스템학회:학술대회논문집
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    • 2000.10a
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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.

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Development of a Cooperative Heterogeneous Unmanned System for Delivery Services (물류수송을 위한 이종 협업 무인 시스템 개발)

  • Cho, Sungwook;Lee, Dasol;Jung, Yeondeuk;Lee, Unghui;Shim, David Hyunchul
    • 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).

Development of an Unmanned Vehicle Driving system By the MR Sensor (MR센서를 이용한 무인 주행 시스템 설계)

  • 김창섭;박기선;이영진;이만형
    • 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

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THE BASIC DESIGN AND ANALYSIS OF UNMANNED VEHICLE FOR TH TELE-OPERATION CONTROL (원격주행을 위한 무인 자동차에 관한 기본설계와 성능분석에 관한 연구)

  • 심재흥;윤득선;김민석;김정하
    • 제어로봇시스템학회:학술대회논문집
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    • 2000.10a
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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.

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Position Controller of Rail Guided Unmanned Monitoring System with the Driving Slip Compensator (주행 슬립 오차 보상기를 가지는 레일 가이드 무인 설비 감시 장치의 위치 제어기)

  • Bae, Jongnam;Kwak, Yunchang;Lee, Dong-Hee
    • The Transactions of The Korean Institute of Electrical Engineers
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    • v.66 no.5
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    • pp.792-799
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    • 2017
  • The real time unmanned monitoring system of an equipment's internal parts and condition requires the monitoring device to be able to stop at a set location on the rail. However, due to the slip between the driving surface and the roller, an error occurs between the actual position and the command position. In this paper, a method to compensate the position error due to the roller slip is proposed. A proximity sensor located at both ends of the rail detects the starting point and the maximum position pulse, linearly compensating the error between the angular position of the motor and the mechanically fixed starting and maximum position pulse of the rail in forward and reverse direction. Moreover, unlike the existing servo position controller, the motor adopts the position detection method of Hall sensor in BLDC (Brushless DC) and applies an algorithm for low-speed driving so that a stable position control is possible. The proposed rail guided unmanned monitoring system with driving slip compensator was tested to verify the effectiveness.

Fuzzy Algorithm Development for the Integration of Vehicle Simulator with All Terrain Unmanned Vehicle (험로 주행용 무인차량과 차량 시뮬레이터의 융합을 위한 퍼지 알고리즘 개발)

  • Yun, Duk-Sun;Yu, Hwan-Sin;Lim, Ha-Young
    • Journal of Intelligence and Information Systems
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    • v.11 no.2
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    • pp.47-57
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    • 2005
  • In this research, the main theme is the system integration of driving simulator and unmanned vehicle. The total system is composed of the mater system and the slave system. The master system has a cockpit system and the driving simulator. The slave system means an unmanned vehicle, which is composed of the actuator system the sensory system and the vision system. The communication system is composed of RS-232C serial communication system which combines the master system with the slave system. To integrate both systems, the signal classification and system characteristics considered DSP(Digital Signal Processing) filter is designed with signal sampling and measurement theory. In addition, to simulate the motion of tele-operated unmanned vehicle on the driving simulator, the classical washout algorithm is applied to this filter, because the unmanned vehicle does not have a limited working space, while the driving simulator has a narrow working space and it is difficult to cover all the motion of the unmanned vehicle. Because the classical washout algorithm has a defect of fixed high pass later, fuzzy logic is applied to reimburse it through an adaptive filter and scale factor for realistic motion generation on the driving simulator.

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Design of an Obstacle Detecting System for Unmanned Ground Vehicle Using Laser Scanner (레이저스캐너를 이용한 무인자동차의 장애물인식 시스템 설계)

  • Moon, Hee-Chang;Son, Young-Jin;Kim, Jung-Ha
    • Journal of Institute of Control, Robotics and Systems
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    • v.14 no.8
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    • pp.809-817
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    • 2008
  • This paper describes an obstacle detecting system of an unmanned ground vehicle (UGV). The unmanned ground vehicle is consists of several systems such as vehicle control system, navigation system, obstacle detecting system and integration system. Among these systems, the obstacle detecting system is a driving assistance system of UGV. Through the UGV is driving, the system detects obstacles such as cars, human, tree, curb and hills and then send information of obstacles position to integration system for safety driving. In this research, the obstacle detecting system is composed of 5 laser scanners and develop algorithms of detecting obstacles, curb, uphill and downhill road.

Genetic Algorithm Based 3D Environment Local Path Planning for Autonomous Driving of Unmanned Vehicles in Rough Terrain (무인 차량의 험지 자율주행을 위한 유전자 알고리즘 기반 3D 환경 지역 경로계획)

  • Yun, SeungJae;Won, Mooncheol
    • Journal of the Korea Institute of Military Science and Technology
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    • v.20 no.6
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    • pp.803-812
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    • 2017
  • This paper proposes a local path planning method for stable autonomous driving in rough terrain. There are various path planning techniques such as candidate paths, star algorithm, and Rapidly-exploring Random Tree algorithms. However, such existing path planning has limitations to reflecting the stability of unmanned ground vehicles. This paper suggest a path planning algorithm that considering the stability of unmanned ground vehicles. The algorithm is based on the genetic algorithm and assumes to have probability based obstacle map and elevation map. The simulation result show that the proposed algorithm can be used for real-time local path planning in rough terrain.

The Development Trend Analysis of Autonomous Driving Technology for Unmanned Ground Combat Vehicles (지상무인전투차량 자율주행 기술 동향분석 및 발전방향)

  • Lee, Jin-Ho;Kim, Seok;Lee, Cheon-Soo
    • Journal of the Korea Institute of Military Science and Technology
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    • v.14 no.5
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    • pp.760-767
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    • 2011
  • To strategically select the technology priority based on the understanding of technology development trends and prospects is very important. To provide such guidance for autonomous driving technology in unmanned ground combat vehicles, this report deals with followings; 1) The core technologies for autonomous driving are reviewed. 2) And domestic and foreign policies for relevant technology development are investigated. 3) Then, to estimate the technology development trend, the published patents and research papers are analyzed. 4) Based on those analyses, domestic technology level and development prospects are expected.