• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2001년도 춘계학술대회 논문집
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• pp.170-173
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• 2001

To apply stereo vision system to obstacle recognition system of AGV, we constructed algorithm of stereo matching and distance measuring with stereo image for positioning of object in area. And using this system, we look into the error between real position and measured position, and studied relationship of compensation.

• 대한전기학회논문지:시스템및제어부문D
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• 제50권7호
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• pp.313-317
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• 2001

This paper proposed a fuzzy logic cross coupled controller which can enhance the path tracking performance of optically guided AGV(Automated Guided Vehicle). The AGV follows the guide path, it cannot be avoid the deviation from the path due to the inevitable error and the deviation must be corrected. Optically guided AGV used in industrial area is controlled by On-Off controller generally, the experimental AGV has three optical sensors in front body. In this structure, we could not know the leaving distance accurately and steering angle from the guided line, so AGV could not be controlled properly with conventional controller in the case of increasing or decreasing velocity. If we mount additional sensors the AGV, we could know the leaving distance and steering angle from the guided line and proper error compensating methode can be applied. But because cost of sensors are high, the cost of total system is increasing. So, in this paper, to improve the tracking performance of AGV which has the minimum number of sensors and fuzzy logic cross coupled controller is proposed. Some simulations and experimental results are presented to illustrate the performance of the proposed controller.

• 한국위성정보통신학회논문지
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• 제12권1호
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• pp.125-131
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• 2017

본 논문에서는 이동통신, 무인기 통신, 차량 간 통신 등에 이용될 수 있는 효율적인 단말 간 직접통신 (D2D: device-to-device)을 위한 동기 프리앰블 (preamble) 구조를 제안하고 성능을 비교한다. 단말 간 직접 통신을 위해서는 향상된 주파수 및 시간 동기 요구 성능을 만족 시킬 수 있어야 하며, 본 논문에서는 이를 위한 프리앰블 구조를 제안한다. 주파수 영역에서 하나 걸러 하나씩의 부반송파에는 신호를 전송하지 않는 대신, 나머지 부반송파에서는 심볼 당 에너지를 2배로 전송하는 제안하는 구조가 기존 LTE D2D 프리앰블 구조에 비해 주파수 옵셋 추정 성능은 유지하면서도 시간 옵셋 추정 성능을 크게 향상시킴을 확인하였다.