Browse > Article
http://dx.doi.org/10.5391/JKIIS.2008.18.5.599

An Autonomous Mobile System based on Detection of the Road Surface Condition  

Jeong, Hye-C. (Dept. of Electrical Engineering, Yeungnam University)
Seo, Suk-T. (Dept. of Electrical Engineering, Yeungnam University)
Lee, Sang-H. (School of Mechanical Engineering, Yeungnam University)
Lee, In-K. (Dept. of Electrical Engineering, Yeungnam University)
Kwon, Soon-H. (Dept. of Electrical Engineering, Yeungnam University)
Publication Information
Journal of the Korean Institute of Intelligent Systems / v.18, no.5, 2008 , pp. 599-604 More about this Journal
Abstract
Recently, many researches for autonomous mobile system have been proposed, which can recognize surrounded environment and navigate to destination without outside intervention. The basic sufficient condition for the autonomous mobile system is to navigate to destination safely without accident. In this paper, we propose a path planning method in local region for safe navigation of autonomous system through evaluation of the road surface distortion(damaged/deformed road, unpaved road, obstacle and etc.). We use laser distance sensor to get the information on the road surface distortion and apply image binalization method to evaluate safe region in the detected local region. We show the validity of the proposed method through the computer simulation based on the artificial local road map.
Keywords
Autonomous robots; Laser distance sensor; Road surface detection; Safe navigation; Path planning;
Citations & Related Records
Times Cited By KSCI : 3  (Citation Analysis)
연도 인용수 순위
1 M. Yamada, T. Oshima, K. Ueda, I. Horiba and S. Yamamoto, "A study of the road surface condition detection technique for deployment on a vehicle," JSAE, vol. 24, pp. 183-188, 2003   DOI   ScienceOn
2 Y. Sasada, M. Nakano, Y. Miyata, K. Suqiyama and E. Shiba, "Development of the Road Surface Condition Sensing System," In Proc. IEEE/IEEJ/JSAI Int. Conf. Intelligent Transportation Systems, pp. 14-19, 1999
3 서석태, 이인근, 권순학, "동적 환경하에서의 이동 로봇을 위한 언어지도 기반 운항계획," 한국퍼지및 지능시스템학회 논문지, 제14권, 4호, pp. 396-401, 2004
4 Z. Xu, Y. Zhuang and H. Chen, "Obstacle Detection and Road Following Using Laser Scanner," In Proc. the 6th World Congress on Intelligent Control and Automation, pp. 8630-8634, 2006
5 C. Rasmussen, "Combining Laser Range, Color, and Texture Cues for Autonomous Road Following," In Proc. IEEE Int. Conf. on Robotics and Automation, pp. 4320-4325, 2002
6 J. W. Lee, "A Machine Vision System for Lane Departure Detection," Computer Vision and Image Understanding, vol. 86, no. 1, pp. 52-78, 2002   DOI   ScienceOn
7 P. K. Pal and A. Kar, "Mobile Robot Navigation Using a Neural Net," In Proc. IEEE Int. Conf. on Robotics and Automation, pp. 1503-1508, 1995
8 W. S. Wijesoma, K. R. S. Kodagoda and A. P. Balasuriya, "Laser and Vision Sensing for Road Detection and Reconstruction," In Proc. IEEE 5th Int. Conf. Intelligent Transportation Systems, pp. 248-253, 2002
9 R. Siegwart and I. R. Nourbakhsh, Introduction to Autonomous Mobile Robots, MIT Press, 2004
10 이현재, 최영규, "미지 환경에서 이동로봇의 주행 알고리즘," 한국퍼지 및 지능시스템학회 논문지, 제16권, 3호, pp. 275-284, 2006   과학기술학회마을   DOI
11 L. Montano and J. R. Asensio, "Real-Time Robot Navigation in Unstructured Environments using a 3Dlaser Rangefinder," In Proc. IEEE/RSJ Int. Conf. Intelligent Robots and Systems, pp. 526-532, 1997
12 주영훈, 조상균, "유전알고리즘을 이용한 지능형 로봇의 주행 제어," 한국퍼지 및 지능시스템학회 논문지, 제15호, 4호, pp. 451-456, 2005   과학기술학회마을   DOI
13 M. Bertozzi, A. Broggi and A. Fascioli, "Vision-based Intelligent Vehicles: State of the Art and Perspectives," Robot Automat System, vol. 32, pp. 1-16, 2000   DOI   ScienceOn