• 한국항해항만학회:학술대회논문집
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• 한국항해항만학회 1999년도 추계학술대회논문집
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• pp.315-320
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• 1999

Obstacle Detection System(ODS) is a essential system for automated vehicle, such as AGV(Automatic Guided Vehicle), mobile robot. Automated vehicle must have a capability to detect and to avoid obstacles to guarantee a safe driving condition. To implement obstacle detection system, virtual bumper concept adapted. Like real bumper in a car, such as in the truck, it protects vehicle from collision using laser distance sensor. When an obstacle(such as other vehicle, building, etc) intrudes this virtual bumper area, a virtual force is calculated and produces necessary strategy to be able to avoid collision. In this paper, simplified virtual bumper concept is presented, and various problems when happens to implement are discussed.