한국군사과학기술학회지 (Journal of the Korea Institute of Military Science and Technology)

  • 제28권3호
  • /
  • Pages.294-303
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  • 2025
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  • 1598-9127(pISSN)
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  • 2636-0640(eISSN)
한국군사과학기술학회 (The Korea Institute of Military Science and Technology)
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임무통제 기반 다중 무인 지상 로봇 자율주행 시스템

Mission Control-based Autonomous Driving System for Multiple Unmanned Ground Vehicle

  • 변지우 (충북대학교 기계공학과) ;
  • 김성연 (충북대학교 기계공학과) ;
  • 육진수 (충북대학교 기계공학과) ;
  • 백인하 (리얼타임비쥬얼 기술연구소) ;
  • 김선호 (한화시스템(주) 지상연구소) ;
  • 이영일 (국방과학연구소 인공지능자율센터) ;
  • 신종호 (충북대학교 기계공학과)
  • Jiwoo Byeon (Department of Mechanical Engineering, Chungbuk National University) ;
  • Seongyeon Kim (Department of Mechanical Engineering, Chungbuk National University) ;
  • Jinsoo Yuk (Department of Mechanical Engineering, Chungbuk National University) ;
  • Inha Baek (Technology R&D Center, Real Time Visual) ;
  • Sunho Kim (Land Combat R&D Center, Hanwha Systems) ;
  • Youngil Lee (AI&Autonomy Technology Center, Agency for Defense Development) ;
  • Jongho Shin (Department of Mechanical Engineering, Chungbuk National University)
  • 투고 : 2024.12.06
  • 심사 : 2025.04.27
  • 발행 : 2025.06.05
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초록

The importance of research on unmanned systems has grown considerably with advancements in science and technology and the need to minimize human casualties. Among these systems, autonomous driving technology for unmanned ground vehicles(UGVs) has garnered significant attention due to its high usability and scalability. Autonomous driving systems for UGVs must be capable of executing complex military operations and adapting flexibly to unpredictable environments. To address these challenges, we propose a mission control-based autonomous driving system for multiple unmanned ground robots. This system comprises three core functions: perception, decision-making, and control, which are integrated to enhance overall performance. To validate the proposed system, we conducted simulations and indoor experiments, with results demonstrating its effectiveness.

키워드

과제정보

이 논문은 2024년 정부(방위사업청)의 재원으로 국방과학연구소의 지원 및 2025년도 정부(산업통상자원부)의 재원으로 한국산업기술진흥원의 지원(P0020536, 산업혁신인재성장지원사업)을 받아 수행된 연구임.

참고문헌

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