우리는 다양한 감지 시나리오에서 자연 감지 환경을 생성하고 바이오소너 에코를 생성하는 통합 시뮬레이션 프레임워크를 소개한다. 이 프레임워크는 환경 정보가 완전히 알려진 풍부한 감각 데이터를 생성하므로 바이오소나 기반 무인 항공 차량에 대한 로봇 알고리듬 훈련에 사용할 수 있다. 시뮬레이션 된 환경은 나뭇잎의 전체 형상을 가진 임의의 나무로 구성된다. 단일 나무를 시뮬레이션하기 위해 린덴마이어 시스템을 채택하여 초기 분기 패턴을 생성하고 이를 3D 컴퓨터 지원 설계 객체 파일의 사용 가능한 측정과 통합하여 자연적으로 보이는 분기, 하위 분기 및 리프를 생성한다. 무균질 포아송 프로세스를 사용하여 생성된 임의의 위치에서 시뮬레이션 나무로 포리스트가 형성된다. 시뮬레이션 환경은 일반적으로 다른 센서를 테스트하고 로봇 알고리듬을 훈련하는 데 사용될 수 있지만, 본 연구에서는 바이오소나 센서를 통해 박쥐의 비행 동작을 재현하는 박쥐 영감을 받은 무인 항공 차량을 테스트하는 데 중점을 둔다. 이를 위해 박쥐의 바이오소나 시스템을 모방하면서 바이오소나 에코를 생성하는 리프 에코 시뮬레이터도 도입한다. 우리는 여러 나무로 실제 시나리오를 생성하고 무인 항공기의 정적 또는 동적 움직임 하에서 결과적인 충동 반응을 계산하여 제안된 시뮬레이션 프레임워크의 적용을 보여준다.
제 1편 : MATLAB 기본편
1. MATLAB 기본사용편 ···················· 003
1.1 MATLAB 시작하기 ·························· 003
명령창(command Window)에서의 입력 005
도움말(Help)의 이용 ······························· 007
1.2 입력 오류의 수정 ····························· 008
계산의 중지 ·············································· 009
MATLAB 종료하기 ································· 009
1.3 연산과 변수의 할당 ·························· 009
연산자 우선순위 ······································· 011
내장함수 ···················································· 012
1.4 데이터의 표현 ··································· 013
1.5 변수의 처리 ······································· 015
변수 이름 ·················································· 015
clear 명령어 ············································· 016
특수변수와 정수 ······································· 017
whos 명령어 ············································ 017
1.6 벡터와 행렬 ······································· 018
벡터 ··························································· 018
행렬 ·························································· 023
스크린 출력과 억제 ································· 024
1.7 랜덤(Random)수와 복소수 ·············· 025
랜덤 수 ····················································· 025
복소수 ······················································· 027
1.8 기호를 이용한 연산 ·························· 028
기호식에서의 치환 ··································· 029
1.9 코드 파일 ·········································· 030
스크립트 코드 파일 ································· 030
코멘트의 추가 ·········································· 032
함수 코드 파일 ···································· 033
사용자 정의함수 ······································ 036
1.10 간단한 그래프의 생성 ····················· 037
ezplot을 이용한 그래프 ·························· 037
plot을 이용한 그래프 ·························· 039
3차원 그래프 ··········································· 042
1.11 MATLAB과 엑셀(Excel)의 접속 043
엑셀 데이터 불러오기 ····························· 043
데이터 가져오기 옵션 ························· 046
스크립트 생성 옵션 ································· 049
함수 생성 옵션 ········································ 049
생성된 데이터를 엑셀파일로 저장하기 ·· 050
제 2편 : 연구논문
A simulation framework for bio-inspired sonar sensing with Unmanned
Aerial Vehicles
1. Introduction 51
2. Materials and method 54
3. Generating foliage echoes 57
4. Results 59
5. Conclusion 63
6. Discussion 63
7. References 65
