公开(公告)号：US12093055B2

公开(公告)日：2024-09-17

申请号：US17523501

申请日：2021-11-10

Applicant: ELECTRONICS AND TELECOMMUNICATIONS RESEARCH INSTITUTE

Inventor： Jeong Gi Yang

IPC: G05D1/00

CPC classification number: G05D1/028 ,  G05D1/027 ,  G05D1/0272

Abstract: Disclosed are a method and apparatus for enabling a robot to follow an object by using distance measurement data and odometry data through ultra-wideband (UWB) to estimate a relative position of a target in a robot center coordinate system. The method comprises initializing a robot's own object following algorithm according to an object following request; transmitting a single-sided two-way ranging (SS-TWR) poll message; receiving a single response message in response to the SS-TWR poll message from the object, the single response message including second odometry information of a second odometry measurement device of the object; estimating a distance to the object based on a round trip delay calculated by an SS-TWR method; predicting a position of the object based on the second odometry information and first odometry information of the first odometry measurement device; and correcting the position of the object based on the estimated distance.

公开(公告)号：US12028106B2

公开(公告)日：2024-07-02

申请号：US18101775

申请日：2023-01-26

Applicant: ELECTRONICS AND TELECOMMUNICATIONS RESEARCH INSTITUTE

Inventor： Jeong Gi Yang ,  Soo Jeon Lee

IPC: H04B1/69 ,  B64C39/02 ,  B64U20/80 ,  B64U101/20 ,  G01S11/02

CPC classification number: H04B1/69 ,  B64C39/024 ,  B64U20/80 ,  G01S11/02 ,  B64U2101/20

Abstract: The present disclosure provides a communication device which is suitable for use in an unmanned aerial vehicle operating in an unmanned aerial vehicle collaboration system including multiple unmanned aerial vehicles and enables both a data communication with another unmanned aerial vehicle and a measurement of a distance to another unmanned aerial vehicle. According to an aspect of an exemplary embodiment, a communication device of an unmanned aerial vehicle includes: an ultra-wideband (UWB) communication circuit configured to perform a UWB communication with other unmanned aerial vehicle; and a UWB communication manager configured to send transmit data to the other unmanned aerial vehicle and receive data sent by the other unmanned aerial vehicle through the UWB communication circuit, and transmit or receive shared data to be shared by unmanned aerial vehicles in a form of being appended to a distance measurement frame.

公开(公告)号：US11978347B2

公开(公告)日：2024-05-07

申请号：US17123945

申请日：2020-12-16

Applicant: Electronics and Telecommunications Research Institute

Inventor： Jeong Gi Yang

IPC: G08G5/00 ,  B64C39/02 ,  B64U101/00

CPC classification number: G08G5/003 ,  B64C39/024 ,  G08G5/0021 ,  B64U2101/00

Abstract: A method for generating data sets of a UAV, performed by a data set generation apparatus, may comprise obtaining flight environment information including a moving object; obtaining flight data including first physical information and first sensor information of the UAV in a flight environment based on the flight environment information; obtaining second physical information and second sensor information of the UAV when the moving object exists, based on the flight data, and generating a first data set based on the second physical information and the second sensor information; obtaining third physical information and third sensor information of the UAV when the moving object does not exist, based on the flight data, and generating a second data set based on the third physical information and the third sensor information; and combining the first data set and the second data set to generate a third data set.