표제지
초록
Abstract
목차
제1장 연구 개요 11
1.1. 연구배경 11
1.2. 관련연구 사례 13
1.2.1. 경로 계획 기법 13
1.2.2. 충돌 회피 기법 18
1.3. 연구 목표 25
1.4. 논문구성 26
제2장 경로 생성 및 정의 27
2.1. 경로점 정의 27
2.1.1. 경로점 및 충돌 예상점 생성 27
2.1.2. 안전거리 정의(Safe Distance-Separation) 30
제3장 속도 프로파일 최적화 문제 32
3.1. SQP 최적화 알고리즘 32
3.1.1. 성능지수 및 구속 조건 구성 32
3.2. Convex 최적화 알고리즘 34
3.2.1. 성능지수 및 구속 조건 구성 34
3.2.2. 구속조건 선형화 및 컨벡스화 39
제4장 최적화 결과 40
4.1. 최적화 기법 비교 40
4.2. 다수 드론 운용 시뮬레이션 44
제5장 결론 52
참고 문헌 53
Table 1. Optimization Problem Definition 38
Table 2. Optimization parameter 41
Table 3. Comparison of the figure of merit by the method 43
Table 4. Optimization Parameter 44
Table 5. Collision drone before optimization 45
Table 6. Convex Optimization figure of merit 51
Figure 1. Various Operation Diagram of Multiple Drones 11
Figure 2. Definition of Voronoi Diagram 14
Figure 3. Voronoi Diagram Example 15
Figure 4. Theta* Algorithm 16
Figure 5. Generate to Multi-Path Using Theta *Algorithm 17
Figure 6. Collision Avoidance Algorithm Based on MPC 18
Figure 7. Collision Avoidance Algorithm Based on Speed Planning 19
Figure 8. Multi-UAV Traffic Management 19
Figure 9. Modification of Collision Group 22
Figure 10. Collision Avoidance with Changing Speed 23
Figure 11. Collision Avoidance with Changing Direction 24
Figure 12. Definition of a Drone Waypoint & Segment 27
Figure 13. Total Airgraph Flow Chart 28
Figure 14. Definition of Multi-Drone's Waypoint, Collision point & Segment 28
Figure 15. Geometry of Multi-Drone's Collision Point 29
Figure 16. Distance-separation Concept 31
Figure 17. Constraints of Predicted Collision Point 39
Figure 18. Generate Path for Two Drones 40
Figure 19. Speed profile after Optimization using SQP (Left), Convex Optimization (Right) 41
Figure 20. Relative Distance Drone's Initial Problem (Left) & Optimal Solution (Right) 42
Figure 21. Flight Time by Segment after Optimization 43
Figure 22. Drone's Path & Predicted Collision Point 46
Figure 23. Relative Distance Drone's Initial Problem 46
Figure 24. #1~#10 Drones Speed Profile Initial Condition (Blue) & Optimal Solution (Red) 48
Figure 25. #11~#20 Drones Speed Profile Initial Condition (Blue) & Optimal Solution (Red) 49
Figure 26. Relative Distance Drone's Optimal Solution 50