• Title, Summary, Keyword: unmanned aerial vehicles

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A Study of Unmanned Aerial Vehicle Path Planning using Reinforcement Learning

  • Kim, Cheong Ghil
    • Journal of the Semiconductor & Display Technology
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    • v.17 no.1
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    • pp.88-92
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    • 2018
  • Currently drone industry has become one of the fast growing markets and the technology for unmanned aerial vehicles are expected to continue to develop at a rapid rate. Especially small unmanned aerial vehicle systems have been designed and utilized for the various field with their own specific purposes. In these fields the path planning problem to find the shortest path between two oriented points is important. In this paper we introduce a path planning strategy for an autonomous flight of unmanned aerial vehicles through reinforcement learning with self-positioning technique. We perform Q-learning algorithm, a kind of reinforcement learning algorithm. At the same time, multi sensors of acceleraion sensor, gyro sensor, and magnetic are used to estimate the position. For the functional evaluation, the proposed method was simulated with virtual UAV environment and visualized the results. The flight history was based on a PX4 based drones system equipped with a smartphone.

Automatic Landing Guidance Law Design for Unmanned Aerial Vehicles based on Pursuit Guidance Law (추적유도기법 기반 무인항공기 자동착륙 유도법칙 설계)

  • Yoon, Seung-Ho;Bae, Se-Lin;Han, Young-Soo;Kim, Hyoun-Jin;Kim, You-Dan
    • Journal of Institute of Control, Robotics and Systems
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    • v.14 no.12
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    • pp.1253-1259
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    • 2008
  • This paper presents a landing controller and guidance law for net-recovery of fixed-wing unmanned aerial vehicles. A linear quadratic controller was designed using the system identification result of the unmanned aerial vehicle. A pursuit guidance law is applied to guide the vehicle to a recovery net with imaginary landing points on the desired approach path. The landing performance of a pure pursuit guidance, a constant pseudo pursuit guidance, and a variable pseudo pursuit guidance is compared. Numerical simulation using an unmanned aerial vehicle model was performed to verify the performance of the proposed landing guidance law.

A Study of Path-Finding Method of Small Unmanned Aerial Vehicles for Collision Avoidance (소형 무인비행체에서의 충돌회피를 위한 비행경로 생성에 관한 연구)

  • Shin, Saebyuk;Kim, Jinbae;Kim, Shin-Dug;Kim, Cheong Ghil
    • Journal of Satellite, Information and Communications
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    • v.12 no.1
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    • pp.76-80
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    • 2017
  • With the fast growing popularity of small UAVs (Unmanned Aerial Vehicles), recent UAV systems have been designed and utilized for the various field with their own specific purposes. UAVs are opening up many new opportunities in the fields of electronics, sensors, camera, and software for pilots. Increase in awareness and mission capabilities of UAVs are driving innovations and new applications driven with the help of low cost and its capability in undertaking high threat task. In particular, small unmanned aerial vehicles should fly in environments with high probability of unexpected sudden change or obstacle appearance in low altitude situations. In this paper, current researches regarding techniques of autonomous flight of smal UAV systems are introduced and we propose a draft idea for planning paths for small unmanned aerial vehicles in adversarial environments to arrive at the given target safely with low cost sensors.

A Study on the System Configuration and Communication Equipment Operation for Mission and Control of Small UAV (소형 무인항공기의 임무 및 제어를 위한 시스템 구성과 통신 장비 운용에 대한 연구)

  • Ha, Young-Seok
    • Journal of Convergence for Information Technology
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    • v.9 no.11
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    • pp.118-124
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    • 2019
  • As Unmanned Aerial Vehicles technology has been widespread, various types of unmanned aircraft and mission equipment have been developed in line with mission diversification. Especially in Korea, small unmanned aerial vehicles have been actively developed. In addition, flight control system and mission equipment interface system for effective control of small unmanned aerial vehicles, efficient communication system configuration and operation for transmission to ground operated systems by processing data are required. This paper addresses efficient system structure and operation of communication equipment for missions and control of small unmanned aerial vehicles.

Photogrammetric Crack Detection Method in Building using Unmanned Aerial Vehicle (사진측량법을 활용한 무인비행체의 건축물 균열도 작성 기법)

  • Jeong, Dong-Min;Lee, Jong-Hoon;Ju, Young-Kyu
    • Journal of the Architectural Institute of Korea Structure & Construction
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    • v.35 no.1
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    • pp.11-19
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    • 2019
  • Recently, with the development of the fourth industrial revolution that has been achieved through the fusion of information and communication technology (ICT), the technologies of AI, IOT, BIG-DATA, it is increasing utilization rate by industry and research and development of application technologies are being actively carried out. Especially, in the case of unmanned aerial vehicles, the construction market is expected to be one of the most commercialized areas in the world for the next decade. However, research on utilization of unmanned aerial vehicles in the construction field in Korea is insufficient. In this study, We have developed a quantitative building inspection method using the unmanned aerial vehicle and presented the protocol for it. The proposed protocol was verified by applying it to existing old buildings, and defect information could be quantified by calculating length, width, and area for each defect. Through this technical research, the final goal is to contribute to the development of safety diagnosis technology using unmanned aerial vehicle and risk assessment technology of buildings in case of disaster such as earthquake.

Formation Flight Control of Unmanned Aerial Vehicles Using Model Predictive Control (모델 예측 기법 기반 무인 항공기의 편대 비행 제어 알고리즘)

  • Park, Jae-Mann;Shin, Jong-Ho;Kim, Hyoun-Jin
    • Journal of Institute of Control, Robotics and Systems
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    • v.14 no.12
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    • pp.1212-1217
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    • 2008
  • This paper studies the feasibility of using the nonlinear model predictive control as a formation flight control algorithm for unmanned aerial vehicles. The optimal control inputs for formation flight are calculated through the cost function which incorporates the relative positions of the individual vehicles to maintain a desired formation and also the inequality constraints on inputs and states using the Karush-Kuhn-Tucker conditions. In the nonlinear model predictive control setting, the optimal control inputs are implemented in a receding horizon manner, which is suitable for dealing with dynamic constraints. Numerical simulations are executed for the validation of the proposed scheme.

Accuracy Evaluation and Terrain Model Automation of Reservoir Using Unmanned Aerial Vehicle System (무인항공시스템을 활용한 저수지 지형모델 생성 및 정확도 평가)

  • Kim, Jungmeyon;Park, Sungsik;Kim, Jaehwi;Ahn, Seungwoo;Park, Sungyong;Kim, Yongseong
    • Journal of The Korean Society of Agricultural Engineers
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    • v.59 no.2
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    • pp.57-67
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    • 2017
  • This study examines methods for creating terrain models of reservoirs and techniques for verifying the accuracy. Such methods and techniques use unmanned aerial vehicles which are capable of capturing high-resolution images repetitively, are highly economic, and capable of surveying wide areas. In addition, this study suggests methods of acquiring data for reservoir safety management, the methods which also employ the unmanned aerial vehicles. Therefore, this study helps solving problems that can arise when National Disaster Management System rebuilds a reservoir management database, such as a shortage of local government manpower. This study also contributes to providing element technology necessary for advancing the database.

Design and Development of Multi-rotorcraft-based Unmanned Prototypes of Personal Aerial Vehicle

  • Muljowidodo, Muljowidodo;Budiyono, Agus
    • International Journal of Aeronautical and Space Sciences
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    • v.10 no.2
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    • pp.140-147
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    • 2009
  • The paper presents the design, development and testing activities of the multi-rotorcraft-based unmanned aerial vehicle at the Center for Unmanned System Studies, Institut Teknologi Bandung (ITB), Indonesia. The multi-rotor system was selected as the design stepping stone for future development of personal aerial vehicle prototypes. A step-by-step design program is conducted to study the technology building blocks and critical issues associated with the design, development and operation of personal aerial vehicles. A number of multi-rotor configurations have been investigated providing basic guidelines for developing a stable unmanned aerial platform. The benefit of the presently selected configuration is highlighted and some preliminary testing results are presented.

Genetic Algorithm Based Decentralized Task Assignment for Multiple Unmanned Aerial Vehicles in Dynamic Environments

  • Choi, Hyun-Jin;Kim, You-Dan;Kim, Hyoun-Jin
    • International Journal of Aeronautical and Space Sciences
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    • v.12 no.2
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    • pp.163-174
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    • 2011
  • Task assignments of multiple unmanned aerial vehicles (UAVs) are examined. The phrase "task assignment" comprises the decision making procedures of a UAV group. In this study, an on-line decentralized task assignment algorithm is proposed for an autonomous UAV group. The proposed method is divided into two stages: an order optimization stage and a communications and negotiation stage. A genetic algorithm and negotiation strategy based on one-to-one communication is adopted for each stage. Through the proposed algorithm, decentralized task assignments can be applied to dynamic environments in which sensing range and communication are limited. The performance of the proposed algorithm is verified by performing numerical simulations.