Journal of the Korean Society for Aeronautical & Space Sciences (한국항공우주학회지)

The Korean Society for Aeronautical and Space Sciences (한국항공우주학회)
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Collision Avoidance Maneuver Design for the Multiple Indoor UAV by using AR. Drone

AR. Drone을 이용한 실내 군집비행용 충돌회피 기동 설계

  • Cho, Dong-Hyun (IT Convergence Technology Team, Korea Aerospace Research Institute) ;
  • Moon, Sung Tae (Aerospace Future Technology Team, Korea Aerospace Research Institute) ;
  • Jang, Jong Tai (Aerospace Future Technology Team, Korea Aerospace Research Institute) ;
  • Rew, Dong-Young (Lunar Exploration Technology Team, Korea Aerospace Research Institute)
  • Received : 2014.03.03
  • Accepted : 2014.08.19
  • Published : 2014.09.01
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Abstract

With increasing of interest in quad-rotor which has excellent maneuverability recently, a various types of multi-rotor aircraft was developed and commercialized, and there are many kinds of leisure products to be easily operated. In these products, the AR.Drone manufactured by Parrot has an advantage that it is easily operated by user due to the its internal stabilization loop in the on-board computer. Thus it is possible to design the unmanned UAV system easily by using this AR.Drone and its inner loop for the stabilization. For this advantage, KARI(Korea Aerospace Research Institute) has been developing the indoor swarming flight system by using multiple AR.Drones. For this indoor swarming flight, it is necessary that not only the position controller for each AR.Drone, but also the collision avoidance algorithm. Therefore, in this paper, the collision avoidance controller is provided for the swarm flight by using these AR.Drones.

뛰어난 기동성으로 인한 최근 쿼드로터에 대한 관심의 증대는 다양한 형태의 멀티로터 비행체의 개발 및 상용화를 이끌었으며, 레져용으로 사용자들이 쉽게 사용할 수 있는 다양한 쿼드로터 제품들이 등장하고 있다. 이 중에서 최근 Parrot사에서 제작한 AR.Drone은 사용자를 위한 내부 안정화 루프를 탑재하고 있기 때문에 초보자들도 쉽게 제어할 수 있는 장점이 있다. 이러한 AR.Drone의 시스템을 이용하면 다양한 형태의 다수 무인기 시스템을 쉽게 구축할 수 있다. 이러한 특성을 바탕으로 한국항공우주연구원에서는 다수의 AR.Drone을 이용한 실내 군집비행 연구를 진행 중에 있다. 이러한 다수의 무인비행체를 이용한 실내 군집비행을 위해서는 개개의 비행체에 대한 위치제어 및 서로간의 충돌을 방지하기 위한 알고리즘이 필요하다. 이를 위해서 본 논문에서는 다수의 실내 무인기의 원활한 기동을 위해 개발한 충돌회피 기동 제어기를 소개하고자 한다.

Keywords

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