무인기 공격편대군 운용을 위한 CBBA 기반 분산형 임무할당

학위논문 (석사) -- 서울대학교 대학원 : 공과대학 항공우주공학과, 2021. 2. 김유단.In this thesis, a distributed task assignment algorithm is proposed for the air strike package mission of heterogeneous unmanned areal vehicles(UAVs) based on the consensus-based bundle algorithm(CBBA). Air Strike Package mission can be modeled as a task assignment problem that multiple UAVs perform various actions by their respective roles. The UAVs participating in the operation consist of strike force for the destruction of enemys ground targets, SEAD(Suppression of Enemy Air Defense) for the neutralization of enemy's air defense system, and counter-air for the protection of UAV from the enemys air-to-air threat. In this study, a distributed task assignment algorithm considering path-planning in presence of SAM(Surface-to-Air Missile) and terrain obstacle is proposed, which is applied to complex air strike package mission based on the characteristics of the ground target and various operational functions of the UAVs. Numerical simulations are performed to demonstrate the effectiveness and applicability of the proposed method.국내ㆍ외에서 다양한 임무할당 연구가 진행 중이나 실제 공중작전에 핵심전력인 공격편대군의 작전환경을 고려한 연구는 매우 제한적이다. 무인기 기술이 고도화되어 군사적 운용이 현실화된 오늘날, 세계 최고의 군사 강국인 미국은 2025 ~ 30년을 목표로 무인기 공격편대군을 개발하 려는 노력을 경주하고 있다. 본 논문에서는 CBBA(Consensus Based Bundle Algorithm)을 기반 으로 무인기 공격편대군의 임무수행을 위한 분산형 임무할당 알고리듬을 제시한다. 공격편대군 임무는 이종의 무인기에 각자의 역할에 부합하도 록 임무를 부여하는 임무할당 문제로 정의할 수 있다. 작전에 참가하는 무인기는 적의 지상표적을 타격하는 Strike와 대공 방어망인 SAM (Surface-to-Air Missile)을 파괴하는 SEAD(Suppression of Enemy Air Defense), 그리고 적기의 공대공 위협으로부터 아군을 보호하는 Counter-Air 전력으로 구성된다. 본 논문에서는 최단경로생성 알고리듬 과 CBBA 알고리듬을 이용하여 SAM 위협과 지형장애물이 존재하는 상 황에서 공격해야 할 지상표적의 특성과 아군 무인기의 다양한 작전성능 을 고려한 표적군 기반의 분산형 임무할당 기법을 제안한다. 또한, 다양 한 위협이 동시에 적용된 복합 상황에서의 공격편대군 임무에 제안한 알 고리듬을 적용하고, 수치 시뮬레이션을 통하여 적용된 기법의 성능과 운 용 가능성에 대해 검토한다. 본 연구에서는 무인기로 구성된 공격편대군을 가정하여 다양한 복합 환경에서의 임무수행 가능성을 알고리듬을 통해 검증하는데 중점을 두었 다. 향후 무인기를 활용한 군사작전과 실제적인 전장환경을 고려한 연구 가 더욱 확대될 것이다. 이러한 연구들을 통해, 오늘날 국외 기술에 기반한 전투기 · 정밀무장 중심의 공중작전이 대한민국의 과학기술과 무인기에 기반한 새로운 무기체계 중심으로 전환하는 계기가 될 것으로 기대된다.Table of Contents Abstract ············································································································· i Table of Contents ························································································ iii List of Tables ································································································· v List of Figures ······························································································ vi List of Abbreviations ················································································· vii CHAPTER 1. INTRODUCTION 1 1.1 Background ···································································································· 1 1.2 Related Research ························································································· 4 1.3 Contributions ································································································· 6 1.4 Thesis Organization ···················································································· 7 CHAPTER 2. Problem Statement 8 2.1 Employment of the Air Strike Package ·············································· 8 2.1.1 ATO cycle ··························································································· 9 2.1.2 Limitations of the preplanned air strike package ············ 10 2.1.3 Real-time applicable UAV air strike package ····················· 11 2.2 Mission Environment of the Air Strike Package ·························· 13 2.3 Task Assignment Problem ····································································· 15 2.4 CBBA Method ······························································································ 17 2.5 Distributed Task Assignment Algorithm Considering Selective Strike ·························································································· 20 CHAPTER 3. Three Staged UAV Air Strike Package Task Assignment Model 3.1 Model of Target Group-Based Air Strike Package in Offline Environments (Stage 1) ···························································· 24 3.1.1 Assumptions ··················································································· 24 3.1.2 Target group-based CBBA algorithm ··································· 26 3.2 Model of Air Strike Package with Additional SEAD and Counter-Air in an Online Environment (Stage 2) ························ 27 3.2.1 Assumptions ····················································································· 27 3.2.2 Online algorithm for a complete-form of air strike package combination ··············································· 28 3.3 Model of Comprehensive Air Strike Package mission in Complex Threat Situations (Stage 3) ················································· 31 CHAPTER 4. Numerical Simulation 32 4.1 Battlefield Environment ··········································································· 32 4.2 Simulation results ····················································································· 35 4.2.1 Stage 1 simulation result ························································· 35 4.2.2 Stage 2 simulation result ························································· 38 4.2.3 Stage 3 simulation result ························································· 41 CHAPTER 5. Conclusions 45 5.1 Concluding Remarks ················································································ 45 5.2 Future Work ································································································ 46 Reference 48 국문초록 52 감사의 글 54Maste