• Journal of the Korean Institute of Intelligent Systems
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• v.24 no.3
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• pp.225-232
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• 2014

In this study, a cooperative UAV and UGV platform is proposed to obtain a wide range of visual information. The UAV recognizes a pattern marker on UGV and tracks the UGV without user control. It can provide wide range of visual information for a user in the UGV. The UGV by a user is controled equipped with an aluminum board. And the UAV can take off and land on the UGV. The UAV uses two cameras; one camera is used to recognize a pattern marker and another is used to provide a wide range of visual information to the UGV's user. It is guaranteed that the proposed visual-based approach detects and tracks the target marker on the UGV, and then lands well. The experimental results show that the proposed approach can effectively construct a cooperative UAV/UGV platform for obtaining a wide range of vision information.

• Journal of the Korea Society for Simulation
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• v.27 no.3
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• pp.89-97
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• 2018

In future warfare, most part of resources and their platforms would be replaced by unmanned system like UGV(Unmanned Ground Vehicle). They are also connected each other with communication network and it is called NCW(Network Centric Warfare) environment. Hence how to measure the effectiveness of UGV operated in NCW circumstance become an important issue. However, there are few research paper to deal with this kind of UGV effectiveness issue coupled with communication failure. In this paper, we proposed a new ABM process to measure the UGV effectiveness combined with communication success ratio based on terrain condition of the ground engagement. Additionally, we also provide the effectiveness analysis result when communication repeater is applied in case of communication failure.

• Journal of Applied Reliability
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• v.14 no.3
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• pp.197-202
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• 2014

In the 21st century, the roles of UGV in the ground battle draw its attention and many research about how to use it is going on globally, but not many study is doing about how to measure its combat effectiveness in the battle. Basically, the effectiveness of UGV is different from its mission profile. Hence, we proposed Measures Of Effectiveness which can measure the UGV effectiveness based on five different missions such as mine detection, nbc detection, reconnaissance, rescue, and fire mission. We expect that these Measures Of Effectiveness proposed are able to contribute to increase the credibility of the study results for UGV effectiveness. We also hope that this paper can stimulate to expand the research scope and related field about UGV effectiveness in the future.

• Journal of Korean Society for Quality Management
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• v.42 no.4
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• pp.591-606
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• 2014

Purpose: The purpose of this study is to design an experimental simulation model for evaluating the UGV(Unmanned Ground Vehicle) effectiveness in a small unit combat scenario. Methods: We design and build a simulation model to evaluate the combat effectiveness of UGV in a small unit combat scenario. In order to build a simulation model, we used AnyLogic software tool which has functional advantages to describe agent-based simulation model. As for the combat scenario, we applied the typical engagement of mechanized unit equal or lower than battalion level. Analysis process follows the three phases. 1) Design an agent based conceptual medel in a small unit combat scenario. 2) Build a simulation medel using AnyLogic tool. 3) Analyze the simulation results and evaluate the UGV effectiveness. Results: The UGV effectiveness was measured and presented as a numeric values. Those numeric values were represented as a MOE(Measure of Effectiveness) which was the blue survival ratio. Conclusion: We developed an agent based simulation model which can provide a pattern of change how UGV effectiveness varied depending upon the number of UGV in a small unit combat scenario. We also found that the UGV effectiveness grows in the given scenario as the number of UGV increases.

• 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 Institute of Control, Robotics and Systems
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• v.16 no.5
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• pp.446-455
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• 2010

The research presented covers the design and control method of unmanned ground vehicle (UGV). An electric vehicle is used and is driven by DC motor. The power system on the UGV has been adjusted and actuators have been installed for steering and brake automation. A toggle switch is implemented to easily switch between manual and autonomous states. The UGV state is monitored by a velocity sensor, as well as steering and brake position sensors. An emergency stop device was designed and installed to quickly and safely stop the UGV. Different control methods, including the PID controller, were studied for improved steering responsiveness, and results were confirmed through experimentation. Satisfactory performance was achieved and several possible areas of future research have arisen.

• Journal of Korean Society for Quality Management
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• v.45 no.3
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• pp.503-520
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• 2017

Purpose: In the near future, it is expected that UGV(unmanned ground vehicle) will be put into battle due to IT technology and unmanned technology development. In this study, we analyze the combat effectiveness considering communication effect where complex combat information and commands are transmitted. Methods: We use ABM(agent-based modeling) and wireless channel module which provides sophisticated communication effect through geographic information and UGV performance. And UGV combat simulation using wireless channel module is used to grasp the combat effectiveness according to the number of packets, which is a unit for storing all information and commands having high complexity. Results: The result of this study is to derive the optimal number of packets which does not decrease the combat effectiveness and the number of lost tanks. The number of packet increases, the survival ratio of our tanks are decreased. Conclusion: In this study, we reveal that the communication success or failure could affect the combat effectiveness. Also, it helps develope the standard communication protocol between UGVs and could be applied to analyze the cost effectiveness analysis in UGV combat environment.

• Journal of Institute of Control, Robotics and Systems
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• v.19 no.5
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• pp.450-456
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• 2013

This paper suggests the target tracking method improved for the collaboration of the quad rotor type UAV (Unmanned Aerial Vehicle) and omnidirectional Unmanned Ground Vehicle. If UAV shakes or UGV moves rapidly, the existing method generates a phenomenon that the tracking object loses the tracking target. To solve the problems, we propose an algorithm that can track continually when they lose the target. The proposed algorithm stores the vector of the landmark. And if the target was lost, the control signal was inputted so that the landmark could move continuously to the direction running out. Prior to the experiment, Proportional and integral control were used in 4 motors in order to calibrate the Heading value of the omnidirectional mobile robot. The landmark of UGV was recognized as the camera adhered to UAV and the target was traced through the proportional-integral-derivative control. Finally, the performance of the target tracking controller and proposed algorithm was evaluated through the experiment.

• Journal of Institute of Control, Robotics and Systems
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• v.19 no.11
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• pp.998-1003
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• 2013

This study proposes an adaptive control algorithm for lateral motion of a UGV (Unmanned Ground Vehicle) using an NN (Neural Networks). The lateral motion of the UGV can be corrupted with various uncertainties such as side slip. In order to compensate the performance degradation of the UGV under various uncertainties, an NN-based adaptive control is designed by utilizing a virtual control concept. Since both the drift and input gain terms are uncertain, the proposed method adapts the whole terms related to the difference between the nominal and real systems. To avoid a singularity problem with the adaptive control, the affine property of the UGV dynamic model is utilized and the overall closed-loop stability is analyzed rigorously. Finally, numerical simulations using Carsim are performed to validate the effectiveness of the proposed scheme.

• Journal of the Korea Institute of Military Science and Technology
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• v.13 no.6
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• pp.951-957
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• 2010

An optimal path generation method considering the safety of UGV(Unmanned Ground Vehicle) is proposed and demonstrated through examples. Among various functions of UGV, real-time obstacle avoidance is a key issue to realize realistic scenario in FCS(Future Combat Systems). A two-dimensional narrow corridor environment is considered as a test field. For each step of UGV movement, two objectives are considered: One is to minimize the distance to the target and the other to maximize the distance to the nearest point of an obstacle. A weighted objective function is used in the optimization problem. Equality and inequality constraints are taken to secure the UGV's dynamics and safety. The weighting factors are controlled by a fuzzy controller which is constructed by a fuzzy rule set and membership functions. Simulations are performed for two cases. First the weighting factors are considered as constant values to understand the characteristics of the corresponding solutions and then as variables that are adjusted by the fuzzy controller. The results are satisfactory for realistic situations considered. The proposed optimal path generation with the fuzzy control is expected to be well applicable to real environment.