Journal of the Korean Institute of Intelligent Systems (한국지능시스템학회논문지)

Korean Institute of Intelligent Systems (한국지능시스템학회)
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Experimental Setup for Autonomous Navigation of Robotic Vehicle for University Campus

대학 캠퍼스용 로봇차량의 자율주행을 위한 실험환경 구축

  • Cho, Sung Taek (Department of Mechatronics Engineering, Chungnam National University) ;
  • Park, Young Jun (Department of Mechatronics Engineering, Chungnam National University) ;
  • Jung, Seul (Department of Mechatronics Engineering, Chungnam National University)
  • 조성택 (충남대학교 메카트로닉스공학과) ;
  • 박영준 (충남대학교 메카트로닉스공학과) ;
  • 정슬 (충남대학교 메카트로닉스공학과)
  • Received : 2016.03.11
  • Accepted : 2016.04.18
  • Published : 2016.04.25
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Abstract

This paper presents the experimental setup for autonomous navigation of a robotic vehicle for touring university campus. The robotic vehicle is developed for navigation of specific areas such as university campus or play parks. The robotic vehicle can carry two passengers to travel short distances. For the robotic vehicle to navigate autonomously the specific distance from the main gate to the administrative building in the university, the experimental setup for SLAM is presented. As an initial step, a simple method of following the line detected by a single camera is implemented for the partial area. The central line on the pavement colored with two kinds, red and yellow, is detected by image processing, and the robotic vehicle is commanded to follow the line. Experimental studies are conducted to demonstrate the performance of navigation as a possible touring vehicle.

본 논문은 대학 캠퍼스를 주행하는 차량의 자율주행을 위한 실험환경 구축에 대해 논한다. 이 차량은 대학이나 공원과 같은 특별한 장소에서 사용되고 근거리를 이동하기 위해 2인이 탑승한다. 정문에서 본부까지 자율주행을 수행하기 위한 실험환경을 구축한다. 초기 단계로 카메라로 바닥의 색깔을 구별하여 선을 검출한다. 빨간색과 노란색의 경계선을 검출하여 로봇차량이 추종할 수 있도록 하였다. 일부 구간의 자율 주행 실험을 통해 가능성을 검증하였다.

Keywords

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