Browse > Article
http://dx.doi.org/10.5302/J.ICROS.2008.14.8.809

Design of an Obstacle Detecting System for Unmanned Ground Vehicle Using Laser Scanner  

Moon, Hee-Chang (국민대학교 자동차공학전문대학원)
Son, Young-Jin (국민대학교 자동차공학전문대학원)
Kim, Jung-Ha (국민대학교 기계자동차공학부)
Publication Information
Journal of Institute of Control, Robotics and Systems / v.14, no.8, 2008 , pp. 809-817 More about this Journal
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.
Keywords
unmanned ground vehicle; laser scanner; obstacle detecting system; local map;
Citations & Related Records
Times Cited By KSCI : 1  (Citation Analysis)
Times Cited By SCOPUS : 0
연도 인용수 순위
1 C. Crane, et al., 'Team Gator Nation's autonomous vehicle development for the 2007 DARPA urban challenge,' Journal of Aerospace computing, information, and communication, vol. 4, pp. 1059-1085, 2007. 12   DOI
2 박용운 외 다수, 'JAUS기반의 국방지상로봇 개발,' 한국 군사과학기술학회 학술대회 논문집, pp. 875-878, 2005. 8
3 S. Thrun, et al., 'Stanley : The robot that won the DARPA Grand Challenge,' Journal of Robotics Systems, vol. 23, no. 9, pp. 661-692, 2006
4 문희창, 손영진, 김정하, '다중 GPS를 이용한 무인자동 차의 주행 알고리즘 개발,' 제어 로봇 시스템학회 논문지, vol. 14, no. 1, pp. 27-35, 2008. 1   과학기술학회마을
5 D. Corona, B. D. Schutter, 'Comparison of a linear a hybrid adaptive cruise controller for a smart,' Proceeding of the 46th IEEE Conference on Decision and Control, pp. 4779-4784, 2007. 12
6 이홍철, '레이저센서를 이용한 장애물 인식 시스템 개 발,' 국민대학교 자동차공학전문대학원 석사학위 논문, 2006
7 최덕선 외 다수, '야지에서 주행하는 무인자율주행차량 을 위한 전역경로계획,' 한국 군사과학기술학회 학술대 회 논문집, pp. 883-886, 2005. 8