• Journal of the Korea Society for Simulation
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• v.27 no.4
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• pp.47-60
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• 2018

Today's unmanned technology, which is being used in various industries, is expected to be able to make autonomous judgements as autonomous technology matures, in the long run aspects. In order to improve the usability of unmanned system in the military field, it is necessary to develop a technique for systematically and quantitatively analyzing the efficiency and effectiveness of the unmanned system by means of a substitute for the tasks performed by humans. In this paper, we propose the method of representing rule-based tactical behavior and modeling manned and unmanned reconnaissance agents that can effectively analyze the path alternatives which is required for the future armored cavalry to establish a reconnaissance mission plan. First, we model the unmanned ground vehicle, small tactical vehicle, and combatant as an agent concept. Next, we implement the proposed agent behavior rules, e.g., maneuver, detection, route determination, and combatant's dismount point selection, by NetLogo. Considering the conditions of maneuver, enemy threat elements, reconnaissance assets, appropriate routes are automatically selected on the operation area. It is expected that it will be useful in analyzing unmanned ground system effects by calculating reconnaissance conducted area, time, and combat contribution ratio on the route.

• Journal of Aerospace System Engineering
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• v.14 no.1
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• pp.68-73
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• 2020

This purpose of this paper was to review the development trend of the VTOL MAVs with a ducted propellant that can fly like the VTOL at intermediate and high speeds, hovering, landing, and lifting off vertically over urban areas, warships, bridges, and mountainous terrains. The MAV differs in flight characteristics from helicopters and fixed wings in many respects. In addition to enhancing thrust, the duct protects personnel from accidental contact with the spinning rotor. The purpose of the U.S. Army FCS and DARPA's OAV program is spurring development of a the VTOL ducted MAV. Today's MAVs are equipped with video/infrared cameras to hover-and-stare at enemies hidden behind forests and hills for approximately one hour surveillance and reconnaissance. Class-I is a VTOL ducted MAV developed in size and weight that individual soldiers can store in their backpacks. Class-II is the development of an organic VTOL ducted fan MAV with twice the operating time and a wider range of flight than Class-I. MAVs will need to develop to perch-and-stare technology for lengthy operation on the current hover-and-stare. The near future OAV's concept is to expand its mission capability and efficiency with a joint operation that automatically lifts-off, lands, refuels, and recharges on the vehicle's landing pad while the manned-unmanned ground vehicle is in operation. A ducted MAV needs the development of highly accurate relative position technology using low cost and small GPS for automatic lift-off and landing on the landing pad. There is also a need to develop a common command and control architecture that enables the cooperative operation of organisms between a VTOL ducted MAV and a manned-unmanned ground vehicle.

• Journal of Institute of Control, Robotics and Systems
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• v.20 no.12
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• pp.1278-1283
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• 2014

This study proposes a NN (Neural Networks)-based adaptive control method for a 6X6 skid-type UGV (Unmanned Ground Vehicle) with 6 in-wheel motors. The UGV experiences lots of uncertainties and, thus, the control performance can degrade significantly without a compensation of the unknown terms. To improve the control performance of the UGV, the NN is utilized to design the adaptive controller. Then, the designed overall force and moment are optimally distributed into 6 traction forces with the assumption that six vertical forces of the UGV are known exactly, because the six traction forces are original source to be excited to the UGV to move. Finally, numerical simulations with the TruckSim model are performed to validate the effectiveness of the proposed approach.

• Journal of the Korea Institute of Military Science and Technology
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• v.16 no.5
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• pp.583-589
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• 2013

In this paper, we proposed a system that efficiently provides support maps which includes the grid based terrain analysis information. To do this, we use the FDB which is defined as a GIS database that contains features with attributes attached to the features. The FDB is composed of a number of features and feature classes. In order to create support maps, it is necessary to classify feature classes that are associated with each support map and to search them in a grid map. The proposed system use a ontology model to classify semantically feature classes and the quad-tree data structure to find them in a grid map quickly. Therefore, our system is expected to be utilized for global path planning of UGV. In this paper, we show the possibility through an experimental implementation.

• Journal of the Korea Institute of Military Science and Technology
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• v.13 no.2
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• pp.171-179
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• 2010

A fundamental technology of UGV(Unmanned Ground Vehicle) to perform a given mission with success in various environment is a path planning method which generates a safe and optimal path to the goal. In this paper, we suggest a local path-planning method of UGV based on the binary map using world model data which is gathered from terrain perception sensors. In specially, we present three core algorithms such as shortest path computation algorithm, path optimization algorithm and path smoothing algorithm those are used in the each composition module of LPP component. A simulation is conducted with M&S(Modeling & Simulation) system in order to verify the performance of each core algorithm and the performance of LPP component with scenarios.

• The Journal of Korea Robotics Society
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• v.6 no.2
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• pp.173-181
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• 2011

Recognition of traffic signs helps an unmanned ground vehicle to decide its behavior correctly, and it can reduce traffic accidents. However, low cost traffic sign recognition using a vision sensor is very difficult because the signs are exposed to various illumination conditions. This paper proposes a new approach to solve this problem using an illuminometer which detects the intensity of illumination. Using the intensity of illumination, the recognizer adjusts the parameters for image processing. Therefore, we can reduce the loss of information such as the shape and color of traffic signs. Experimental results show that the proposed method is able to improve the performance of traffic sign recognition in various weather and lighting conditions.

• The Journal of Korea Robotics Society
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• v.4 no.3
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• pp.233-242
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• 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.

• International Journal of Aeronautical and Space Sciences
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• v.12 no.4
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• pp.379-384
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• 2011

This paper performs numerical prediction of fuel temperature in the fuel tanks of unmanned air vehicles for both ground static non-operating and in flight transient conditions. The calculation is carried out using a modified Dufort-Frankel scheme. For this calculation, it is assumed that a non-operating vehicle on the ground is subjected to repeating daily cycles of ambient temperature with solar radiation and wind under 1%, with a 20% probability of hot day conditions. The energy conservation equation is used as the governing equation to calculate heat transfer between the fuel tank surface and the ambient environment. Results of the present analysis may be used as the estimated initial values of fuel temperatures in a vehicle's fuel tank for the purpose of analyzing transient fuel temperatures during various flight missions. This research also demonstrates that the fuel temperature of the front tank is higher than that of the rear tank, and that the difference between the two temperatures increases in the later phases of flight due to the consumption of fuel.

• Journal of electromagnetic engineering and science
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• v.15 no.1
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• pp.37-43
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• 2015

We implemented a real-time radar system for an unmanned ground vehicle designed to run on unpaved or bumpy roads. The system must be able to detect slow targets in a cluttered environment and cover wide angular sections with high resolution at the same time. The system consists of array antennas, preprocessors for digital beam forming, and digital signal processors for the detection process which uses sawtooth waveforms and high-resolution estimation, and is called forward/backward spatial smoothing beamspace multiple signal classification (FBSS BS-MUSIC). We show that the sawtooth waveforms enhance the angular estimation capability of FBSS BS-MUSIC in addition to their well-known advantages of removing the ambiguity of targets and detecting slow targets with improved velocity resolution.

• Journal of the Korea Institute of Military Science and Technology
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• v.11 no.4
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• pp.107-115
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• 2008

Accurate extraction of traversable region is a critical issue for autonomous navigation of unmanned ground vehicle(UGV). This paper introduces enhanced extraction of traversable region by combining scene clustering with 3D world modeling using CCD(Charge-Coupled Device)/IR(Infra Red) image. Scene clustering is developed with K-means algorithm based on CCD and IR image. 3D world modeling is developed by fusing CCD and IR stereo image. Enhanced extraction of traversable regions is obtained by combining feature of extraction with a clustering method and a geometric characteristic of terrain derived by 3D world modeling.