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저가 하드웨어 기반 멀티로터 비행제어 컴퓨터 설계 및 검증
이다솔(Dasol Lee),심현철(David Hyunchul Shim) 한국항공우주학회 2017 韓國航空宇宙學會誌 Vol.45 No.5
본 논문에서는 저가 하드웨어 기반의 멀티로터용 비행제어 컴퓨터의 하드웨어 개발과 항법 및 제어 알고리즘의 설계 및 구현, 그리고 실제 비행실험을 통한 검증 과정을 서술하였다. 개발된 비행제어 컴퓨터는 마이크로컨트롤러를 통하여 멀티로터를 안정적으로 제어하며 통합된 Linux 컴퓨터를 활용하여 복잡한 임무에 대응이 가능하도록 설계되었다. 항법 해는 Complementary Filter를 통하여 500 Hz의 속도로 계산을 수행하고, 멀티로터의 운동모델을 기반으로 Observer를 설계, 측정 잡음을 크게 줄였다. 제어 알고리즘은 3차원 Curve Fitting을 통하여 얻은 Feed-forward Term을 사용하여 반응속도를 크게 향상시켰으며, 다수의 비행실험을 통하여 실제 상황에서 효과적으로 동작함을 확인하였다. This paper describes development and validation processes of a low-cost hardware based flight control computer designed for multi-rotor UAVs. The developed flight control computer controls multi-rotors stable and can handle complex flight missions using an integrated high-performance Linux computer. A complementary filter generates a navigation solution with 500 Hz, and a proposed observer significantly reduces measurement noise. A control algorithm utilizes a feed-forward term computed by a three-dimensional curve fitting method, and it increases tracking performance. The developed flight control system has been fully tested through several test flights, and it can apply to real flight environments.
이다솔(Dasol Lee),심현철(David Hyunchul Shim) 제어로봇시스템학회 2014 제어·로봇·시스템학회 논문지 Vol.20 No.12
This article describes a path planning algorithm for fixed-wing UAVs when a real terrain should be considered. Nowadays, many UAVs are required to perform mission flights near given terrain for surveillance, reconnaissance, and infiltration, as well as flight altitude of many UAVs are relatively lower than typical manned aerial vehicles. Therefore, real terrain should be considered in path planning algorithms of fixed-wing UAVs. In this research, we have extended a spline-RRT* algorithm to three-dimensional planner. The spline-RRT* algorithm is a RRT* based algorithm, and it takes spline method to extend the tree structure over the workspace to generate smooth paths without any post-processing. Direction continuity of the resulting path is guaranteed via this spline technique, and it is essential factor for the paths of fixed-wing UAVs. The proposed algorithm confirm collision check during the tree structure extension, so that generated path is both geometrically and dynamically feasible in addition to direction continuity. To decrease degrees of freedom of a random configuration, we designed a function assigning directions to nodes of the graph. As a result, it increases the execution speed of the algorithm efficiently. In order to investigate the performance of the proposed planning algorithm, several simulations are performed under real terrain environment. Simulation results show that this proposed algorithm can be utilized effectively to path planning applications considering real terrain.
대규모 군집을 위한 3 차원 경로계획 알고리즘에 대한 연구
이다솔(Dasol Lee),심현철(David Hyunchul Shim) 제어로봇시스템학회 2019 제어·로봇·시스템학회 논문지 Vol.25 No.12
In this paper, we propose a three-dimensional path planning algorithm for a large-scale swarm. The proposed algorithm is based on the Eulerian approach that controls spatial characteristics which is an agent density vector. This algorithm has three phases, which are environment abstraction, optimal transport, and collision avoidance, respectively. The algorithm can be applied to a largescale swarm of 1000 agents or more, and it guarantees collision avoidance between obstacles existing in the given flight environment and the surrounding agents. We carried out simulation using two scenarios, and as a result, it was confirmed that the proposed algorithm is suitable for three-dimensional path planning for a large-scale swarm.