Journal of Satellite, Information and Communications (한국위성정보통신학회논문지)

Korea Society of Satellite Technology (한국위성정보통신학회)
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A Study of Path-Finding Method of Small Unmanned Aerial Vehicles for Collision Avoidance

소형 무인비행체에서의 충돌회피를 위한 비행경로 생성에 관한 연구

  • 신새벽 (연세대학교 컴퓨터과학과) ;
  • 김진배 (연세대학교 컴퓨터과학과) ;
  • 김신덕 (연세대학교 컴퓨터과학과) ;
  • 김정길 (남서울대학교 컴퓨터학과)
  • Received : 2017.01.22
  • Accepted : 2017.03.29
  • Published : 2017.03.31
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Abstract

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.

소형 무인기(UAV: Unmanned Aerial Vehicle)가 급속히 대중화됨에 따라 최근의 UAV 시스템은 각각의 목적에 따라 다양한 분야에서 설계되고 활용되고 있다. 이는 UAV 조정과 관련하여 전자, 센서, 카메라, 소프트웨어 프로그램 등에 이르기까지 많은 새로운 기회를 열어 가고 있으며 저비용 및 혁신적 업무 수행 능력으로 UAV의 활용과 응용 영역의 확대는 새로운 기술 혁신을 주도하고 있다. 특히 소형 UAV는 저고도 상황에서 예측이 힘든 돌발 변화나 장애물 출현 발생 확률이 높은 환경에서 비행을 하여야 한다. 본 논문에서는 소형 UAV 시스템의 자율 비행 기술에 관한 최근의 연구를 소개하고 적대적인 환경에서 소형 UAV의 저비용 센서들을 활용하여 경로 생성과 충돌 회피를 통해 안전하게 목표물에 도착을 유도하는 시험적 방안을 제안 한다.

Keywords

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