장애물이 산재한 미지의 환경에서 회전익 무인항공기의 계층적 및 통합적 경로생성 및 제어 = Interweaved and Integrated Planning and Control for a Rotary Wing Unmanned Aerial Vehicle in Unknown Cluttered Environment

다국어 초록 (Multilingual Abstract)

This paper presents real time path planning and control algorithms for a rotary wing unmanned aerial vehicle (RUAV) operating in an unknown and cluttered environment. The mission of the RUAV is to navigate from the starting position to the goal position without any prior information about the environment. To achieve this, two approaches are considered in this research, namely InterWeaved Planning and Control (IWPC) and InterGrated Planning and Control (IGPC). In the IWPC strategy, the RUAV replans the path in real time if new obstacles are detected in the environment via its on-board sensors and then generates a control action to track this path. In the IGPC strategy the RUAV generates a control input to head for the goal point while avoiding obstacles without generating a path. Simulation results show that both the IWPC and the IGPC methods can achieve the mission successfully in a cluttered environment.

목차 (Table of Contents)

• Abstract
• Ⅰ. 서론
• Ⅱ. 회전익 무인항공기의 동역학적 모델
• Ⅲ. 계층적 경로생성 및 제어
• Ⅳ. 통합적 경로생성 및 제어
• Ⅴ. 모의실험
• Ⅵ. 결론
• 참고문헌