무인기 자율임무를 위한 모델 기반 지능형 프레임워크 인터페이스

Abstract

Recently, thanks to the development of artificial intelligence technologies such as image recognition, research on unmanned aerialvehicles is being actively conducted. In particular, related research is increasing in the field of military drones, which costs a lot to fosterprofessional pilot personnel, and one of them is the study of an intelligent framework for autonomous mission performance ofreconnaissance drones. In this study, we tried to design an intelligent framework for unmanned aerial vehicles using the methodologyof designing an intelligent framework for service robots. For the autonomous mission performance of unmanned aerial vehicles, theintelligent framework and unmanned aerial vehicle module must be smoothly linked. However, it was difficult to provide interworkingfor drones using periodic message protocols with model-based interfaces of intelligent frameworks for existing service robots. First, themessage model lacked expressive power for periodic message protocols, followed by the problem that interoperability of asynchronousdata exchange methods of periodic message protocols and intelligent frameworks was not provided. To solve this problem, this paperproposes a message model extension method for message periodic description to secure the model's expressive power for the periodicmessage model, and proposes periodic and asynchronous data exchange methods using the extended model to provide interoperabilityof different data exchange methods.