Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Design of an Obstacle Detecting System for Unmanned Ground Vehicle Using Laser Scanner

레이저스캐너를 이용한 무인자동차의 장애물인식 시스템 설계

  • 문희창 (국민대학교 자동차공학전문대학원) ;
  • 손영진 (국민대학교 자동차공학전문대학원) ;
  • 김정하 (국민대학교 기계자동차공학부)
  • Published : 2008.08.01
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Abstract

This paper describes an obstacle detecting system of an unmanned ground vehicle (UGV). The unmanned ground vehicle is consists of several systems such as vehicle control system, navigation system, obstacle detecting system and integration system. Among these systems, the obstacle detecting system is a driving assistance system of UGV. Through the UGV is driving, the system detects obstacles such as cars, human, tree, curb and hills and then send information of obstacles position to integration system for safety driving. In this research, the obstacle detecting system is composed of 5 laser scanners and develop algorithms of detecting obstacles, curb, uphill and downhill road.

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References

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