• 한국지능시스템학회논문지
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• 제24권3호
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• pp.225-232
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• 2014

본 논문은 기존의 UGV(Unmanned Ground Vehicle)에서 얻을 수 없었던 광범위한 시야를 얻기 위하여 UGV와 UAV(Unmanned Aerial Vehicle)를 함께 운용하는 플랫폼을 제안한다. UAV는 사용자 조종 없이 UGV 상단의 마커를 인식 한 후 UGV를 추적하며 광범위한 시야를 UGV 사용자에게 전달해 준다. UGV는 사용자가 직접 조정하며, 상단에 마커가 붙어 있는 넓은 알루미늄 판위에 UAV는 자동 이륙, 착륙 한다. UAV에는 2개의 카메라가 설치되어 있고, 하나는 마커인식을 위해 다른 하나는 전방의 광범위한 시야를 위하여 사용된다. UAV가 UGV를 추적하는데 있어 인식의 정확도를 높이기 위하여 마커 인식을 사용하였고, 전체 시스템의 통신은 WiFi 통신을 사용하였다. 실험의 결과를 통해 제안된 방법이 광범위 시야 정보를 얻기 위하여 UAV/UGV의 협업 연구에 효과적으로 적용될 수 있음을 보여준다.

• 한국시뮬레이션학회논문지
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• 제27권3호
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• pp.89-97
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• 2018

미래전에서는 무기체계의 상당부분이 무인체계로 대체될 것이며 이들은 상호 통신으로 연결되어 네트워크중심전으로 변화하고 있다. 이에 따라 무인체계 효과분석이 중요한 이슈가 될 것이다. 하지만 무인체계의 주요통제 수단인 통신장애 상황에서 UGV에 대한 효과분석 연구는 매우 미흡한 실정이다. 본 논문에서는 지형을 고려한 통신장애 상황에서 무인체계의 운용효과분석을 위한 새로운 에이전트기반 모델링 절차를 제시하였다. 추가적으로, 통신장애 상황을 극복할 수 있는 통신중계기를 추가하였을 경우 UGV운용효과의 변화에 대한 분석결과도 제시하였다.

• 한국신뢰성학회지:신뢰성응용연구
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• 제14권3호
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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.

• 품질경영학회지
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• 제42권4호
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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.

• 제어로봇시스템학회논문지
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• 제20권12호
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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.

• 제어로봇시스템학회논문지
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• 제16권5호
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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.

• 한국군사과학기술학회지
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• 제27권3호
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• pp.395-405
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• 2024

This study provides a thorough examination of Unmanned Ground Vehicles(UGVs), focusing on crucial technologies and trends across major global markets. It includes an in-depth patent analysis revealing the dominant positions of the United States and the European Union in this field. Additionally, it underscores substantial advancements made by China, Japan, and Korea since 2010. Using Latent Dirichlet Allocation(LDA)-based patent text mining, the study identified key technology areas in UGV development, such as advanced control systems, navigation technologies, power supply mechanisms, and sensing and communication tools. Through linear regression analysis, the study predicted the future paths of these technology areas, offering important insights into the evolving world of UGV technology. The findings can provide strategic guidance for stakeholders in the defense, commercial, and academic sectors, pointing out the future directions in UGV advancements.

• 품질경영학회지
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• 제45권3호
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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.

• 정보처리학회 논문지
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• 제13권9호
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• pp.468-473
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• 2024

도심 지역에서의 굴착 작업은 지반 변형을 유발할 수 있으며, 이는 인근 인프라에 피해를 줄 수 있다. 지반 변형으로 인해 작업 현장 근처의 보도블록에 변위가 발생할 수 있다. 변위를 정확하게 측정하여 지반 변형의 잠재적인 위험을 평가하는 지표로 사용할 수 있다. 본 논문에서는 UGV에 장착된 3D 레이저 라인 센서를 이용한 강건하고 효율적인 보도블록 이격 측정 방법을 제안한다. 제안 방법은 2D 투영 기반 객체 탐지와 CPLF 알고리즘을 통한 측정의 두 단계로 구성된다. 실험 결과, CPLF 알고리즘이 PLF에 비해 효율적임을 확인했으며, CPLF 알고리즘이 1.36 mm의 오차와 10.76ms의 처리 시간을 보여 제안 방법이 다양한 유형의 보도블록과 환경적 요인이 존재하는 실제 환경에서도 UGV에서 3D 레이저 라인센서를 이용하여 강건한 온라인 측정을 보장하면서도 높은 정확성을 유지할 수 있음을 확인했다.

• 제어로봇시스템학회논문지
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• 제19권5호
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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.