| Title |
PILS-based Performance Analysis of Drone Autonomous Flight for Exploration Mission under Unstructured Indoor Environment |
| Authors |
김동균(Dong-gyun Kim) ; 이병진(Byoung-jin Lee) ; 성상경(Sang-Kyoung Sung) |
| DOI |
https://doi.org/10.5370/KIEE.2021.70.4.692 |
| Keywords |
Process-In-the-Loop (PIL); autonomous exploration; path planning; simulator |
| Abstract |
This study presents a PILS simulator design and its performance analysis results of autonomous exploration algorithms under infrastructure outage environments such as battle field. For this, an unstructured indoor environment is considered where drone autonomously explores and returns to the starting point without GPS and other communication linkage. At the end of the mission, the map and the location of the target are transmitted to its operator. Component algorithms necessary for this include path planning, SLAM, image processing with target recognition and its realtime integration for drone’s flight control. The simulator studied in this paper primarily constitutes the flight control system of drone that participates “Autonomous Flight Competition in Battlefield” supported by the Agency for Defense Development(ADD). |