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Current Result Document :
ÇѱÛÁ¦¸ñ(Korean Title) |
±ºÁý ·Îº¿ÀÇ ÀÓ¹« °ËÁõ Áö¿øÀ» À§ÇÑ µðÁöÅÐ Æ®À© ±â¹Ý Åë½Å ÃÖÀûÈ ±â¹ý |
¿µ¹®Á¦¸ñ(English Title) |
Digital Twin-Based Communication Optimization Method for Mission Validation of Swarm Robot |
ÀúÀÚ(Author) |
±è°üÇõ
±èÇÑÁø
±ÇÁØÇü
ÇϹü¼ö
Çã¼®Çà
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Gwanhyeok Kim
Hanjin Kim
Junhyung Kwon
Beomsu Ha
Seok Haeng Huh
Jee Hoon Koo
Ho Jung Sohn
Won-Tae Kim
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¿ø¹®¼ö·Ïó(Citation) |
VOL 12 NO. 01 PP. 0009 ~ 0016 (2023. 01) |
Çѱ۳»¿ë (Korean Abstract) |
·Îº¿Àº ±º»ç ºÐ¾ß·Î±îÁö È°¿ë ¹üÀ§¸¦ ³ÐÈ÷¸ç ´Ù°¡¿Ã ¹Ì·¡Àü¿¡¼ °¨½Ã°æ°è, Àû±º ŽÁö µî Áß¿äÇÑ ÀÓ¹«¸¦ ¸Ã°Ô µÉ °ÍÀ¸·Î Àü¸ÁµÈ´Ù. ±ºÁý ·Îº¿Àº ´Ù¼ö¶ó´Â ÀåÁ¡À¸·Î ´ÜÀÏ ·Îº¿ÀÌ ¼öÇàÇϱ⠾î·Æ°Å³ª ¿À·£ ½Ã°£ÀÌ ¼Ò¿äµÈ ÀÓ¹«¸¦ º¸´Ù È¿À²ÀûÀ¸·Î ¼öÇàÇÒ ¼ö ÀÖ´Ù. »óÈ£ °£ ÀÎÁö ¹× Çù¾÷ÀÌ ÇʼöÀÎ ±ºÁý ·Îº¿Àº ¹æ´ëÇÑ µ¥ÀÌÅ͸¦ ÁÖ°í ¹ÞÀ¸¸ç, ÀÌ·Î ÀÎÇØ SWÀÇ °ËÁõÀÌ Á¡Á¡ ´õ ¾î·Á¿öÁö°í ÀÖ´Ù. ÀÓ¹« °ËÁõÀÇ ½Å·Ú¼ºÀ» ³ôÀ̱â À§ÇØ »ç¿ëÇÏ´Â Hardware-in-the-loop simulationÀº º¹ÀâÇÑ ±ºÁý ·Îº¿ÀÇ SW °ËÁõÀ» °¡´ÉÇÏ°Ô Çϳª, HILS ÀåÄ¡¿Í ½Ã¹Ä·¹ÀÌÅÍ °£ ÁÖ°í ¹Þ´Â °ËÁõ µ¥ÀÌÅÍÀÇ ¾çÀÌ °ËÁõ ´ë»ó ½Ã½ºÅÛ ¼ö¿¡ µû¶ó ±âÇϱ޼öÀûÀ¸·Î Áõ°¡ÇÏ¿© Åë½Å °úºÎÇÏ°¡ ¹ß»ýÇÒ ¼ö ÀÖ´Ù. º» ³í¹®¿¡¼´Â ±ºÁý ·Îº¿ÀÇ ÀÓ¹« °ËÁõ¿¡¼ ¹ß»ýÇÏ´Â Åë½Å °úºÎÇÏ ¹®Á¦¸¦ ÇؼÒÇϱâ À§ÇØ µðÁöÅÐ Æ®À© ±â¹ÝÀÇ Åë½Å ÃÖÀûÈ ±â¹ýÀ» Á¦¾ÈÇÑ´Ù. Á¦¾ÈÇÏ´Â Digital Twin based Multi HILS Framework ÇÏ¿¡¼ Network DTÀº Network Controller ¾Ë°í¸®ÁòÀ» ÅëÇØ ÀÓ¹« ½Ã³ª¸®¿À¿¡ µû¶ó °¢ ·Îº¿¿¡°Ô ³×Æ®¿öÅ© ÀÚ¿øÀ» È¿À²ÀûÀ¸·Î ÇÒ´çÇÒ ¼ö ÀÖÀ¸¸ç, ±ºÁý¿¡ Âü¿©ÇÏ´Â °³º° ·Îº¿µéÀÌ ¿ä±¸ÇÏ´Â Sensor Generation Rate¸¦ ¸ðµÎ ¸¸Á·½Ãų ¼ö ÀÖÀ½À» È®ÀÎÇÏ¿´´Ù. ¶ÇÇÑ µ¥ÀÌÅÍ Àü¼Û¿¡ ´ëÇÑ ½ÇÇè °á°ú ÆÐŶ ¼Õ½Ç ºñÀ²À» ±âÁ¸ 15.7%¿¡¼ ¾à 0.2%·Î °¨¼Ò½Ãų ¼ö ÀÖ¾ú´Ù. |
¿µ¹®³»¿ë (English Abstract) |
Robots are expected to expand their scope of application to the military field and take on important missions such as surveillance and enemy detection in the coming future warfare. Swarm robots can perform tasks that are difficult or time-consuming for a single robot to be performed more efficiently due to the advantage of having multiple robots. Swarm robots require mutual recognition and collaboration. So they send and receive vast amounts of data, making it increasingly difficult to verify SW. Hardware-in-the-loop simulation used to increase the reliability of mission verification enables SW verification of complex swarm robots, but the amount of verification data exchanged between the HILS device and the simulator increases exponentially according to the number of systems to be verified. So communication overload may occur. In this paper, we propose a digital twin-based communication optimization technique to solve the communication overload problem that occurs in mission verification of swarm robots. Under the proposed Digital Twin based Multi HILS Framework, Network DT can efficiently allocate network resources to each robot according to the mission scenario through the Network Controller algorithm, and can satisfy all sensor generation rates required by individual robots participating in the group. In addition, as a result of an experiment on packet loss rate, it was possible to reduce the packet loss rate from 15.7% to 0.2%. |
Å°¿öµå(Keyword) |
µðÁöÅÐ Æ®À©
HILS(Hardware-in-the-loop Simulation)
±ºÁý ·Îº¿
³×Æ®¿öÅ© ÃÖÀûÈ
Digital Twin
HILS(Hardware-in-the-loop Simulation)
Swarm Robot
Network Optimization
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