다중 무인체계의 분산형 제어를 위한 통신환경 시뮬레이션 방안 연구

Abstract

Recently, research on decentralized control of multiple unmanned systems has been actively conducted. Communication, a means of sharing data, is paramount in distributed control, but communication failures frequently occur in real-world environments where unmanned systems move at a rapid pace and communicate wirelessly. For this reason, it is important to simulate communication failure situations in the development of decentralized control systems and to robustly design mission planning modules in the controller. However, existing studies to consider communication effects are aimed at improving the accuracy of high-resolution simulation effectiveness and are not suitable for use in the development of intelligence in individual unmanned systems. Therefore, in this paper, we propose a communication environment simulation method for the development of decentralized control of multiple unmanned systems. Using the DDS middleware API, message filters are implemented on DDS listener and publisher within individual agents, which design and implement a communication environment simulation method that controls transmission/receipt messages. In addition, we conduct experiments based on the maritime unknown object trail scenario and validate the utility of the communication environment simulation method developed by this study.