드라이브 ㆍ 컨트롤 (Journal of Drive and Control)

  • 제13권4호
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  • Pages.14-22
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  • 2016
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  • 2671-7972(pISSN)
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  • 2671-7980(eISSN)
유공압건설기계학회 (The Korean Society for Fluid Power and Construction Equipment)
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굴삭기를 위한 레이저 스캐너 기반 확률 및 예견 작업 위험도 평가 알고리즘 개발

Laser-Scanner-based Stochastic and Predictive Working-Risk-Assessment Algorithm for Excavators

  • Oh, Kwang Seok (Department of Automotive Engineering, Honam University) ;
  • Park, Sung Youl (Department of Mechanical and Aerospace Engineering, Seoul National University) ;
  • Seo, Ja Ho (Department of Biosystems Machinery Engineering, Chungnam National University) ;
  • Lee, Geun Ho (Korea Institute of Machinery & Materials) ;
  • Yi, Kyong Su (Department of Mechanical and Aerospace Engineering, Seoul National University)
  • 투고 : 2016.08.02
  • 심사 : 2016.09.23
  • 발행 : 2016.12.01
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초록

This paper presents a stochastic and predictive working-risk-assessment algorithm for excavators based on a one-layer laser scanner. The one-layer laser scanner is employed to detect objects and to estimate an object's dynamic behaviors such as the position, velocity, heading angle, and heading rate. To estimate the state variables, extended and linear Kalman filters are applied in consideration of laser-scanner information as the measurements. The excavator's working area is derived based on a kinematic analysis of the excavator's working parts. With the estimated dynamic behaviors and the kinematic analysis of the excavator's working parts, an object's behavior and the excavator's working area such as the maximum, actual, and predicted areas are computed for a working risk assessment. The four working-risk levels are defined using the predicted behavior and the working area, and the intersection-area-based quantitative-risk level has been computed. An actual test-data-based performance evaluation of the designed stochastic and predictive risk-assessment algorithm is conducted using a typical working scenario. The results show that the algorithm can evaluate the working-risk levels of the excavator during its operation.

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참고문헌

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피인용 문헌

  1. 적응형 슬라이딩 모드 제어를 이용한 위상 궤적 해석 기반 굴삭기의 안전제어 알고리즘 개발 vol.15, pp.3, 2016, https://doi.org/10.7839/ksfc.2018.15.3.008
  2. 확장 칼만 필터를 이용한 대상 상태 추정 기반 자율주행 대차의 모델 예측 추종 제어 알고리즘 vol.16, pp.2, 2016, https://doi.org/10.7839/ksfc.2019.16.2.022