전자통신동향분석 (Electronics and Telecommunications Trends)

한국전자통신연구원 (Electronics and Telecommunications Research Institute)
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무인 비행체의 환경 인지 및 경로 계획 연구동향

Research Trends on Environmental Perception and Motion Planning for Unmanned Aerial Vehicles

  • 발행 : 2019.06.01
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초록

Currently, the use of unmanned aerial vehicles (UAVs) is spreading from recreational purposes to the public- and commercial-use product areas. Various efforts are being made worldwide to ensure the safety of UAVs and expand their service applications and convenience, because autonomous flights are becoming increasingly popular. In order for a UAV to perform autonomous flight and mission without operator assistance, environmental perception technology, path planning technology, and flight control technology are needed. In this article, we present recent trends in these technologies.

키워드

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그림 1 무인 비행체의 자율 비행을 위한 환경 인지 및 경로 계획 구성도

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그림 2 SLAM 기반 환경 지도 형태[1]: (a, c) 3차원 포인트 클라우드 맵, (b) occupancy grid 맵

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그림 3 경로점 기반 path planning(왼쪽)과 corridor 기반 path planning(오른쪽)

참고문헌

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