• Proceedings of the KAIS Fall Conference
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• 2012.05b
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• pp.520-523
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• 2012

본 연구에서 무인차량의 자율주행시스템은 차량제어시스템, 항법시스템, 장애물인식시스템, 통합시스템의 4개 서브시스템으로 구성 되어있고, GPS와 레이저스캐너를 이용한 무인차량의 장애물인식시스템을 개발하고자 한다.

• Journal of the Korean Institute of Intelligent Systems
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• v.19 no.3
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• pp.375-380
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• 2009

In this paper, a steering actuator is designed and developed for an unmanned vehicle based on magnetic marker. One of the most important component of an unmanned vehicle is a steering actuator to follow magnetic road. Thus, we develop a steering actuator using a stepping motor and adopt to a new frequency control method depended on speed of the vehicle. In order to verify the usability of the developed system, the setup of unmanned vehicle installed the designed steering actuator is tested on magnetic road.

• The Transactions of the Korea Information Processing Society
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• v.3 no.5
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• pp.1037-1045
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• 1996

In this paper, the parallel model for stereo camera is employed to find the heralding angle and the distance between a leading vehicle and the following vehicle, BART(Binocular Autonomous Research Team vehicle). Two TDNNs (Time Delay Neural Network) such as S-TDNN and A-TDNN are introduced to control BART. S-TDNN controls the speed of the following vehicle while A-TDNN controls the steering angle of BATR. A human drives BART to collect data which are used for training the said neural networks. The trained networks performed the vehicle tracking function satisfactorily under the same driving conditions performed by the human driver. The neural network approach has good portability which decreases costs and saves development time for the different types of vehicles.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.22 no.1
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• pp.214-220
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• 2021

SUGVs (Small Unmanned Ground Vehicles) are being used to conduct dangerous missions, such as EOD (explosive ordinance disposal), counter-terrorism operations, fire extinguishing and fire-fighting reconnaissance, reconnaissance of disaster areas, and surveillance of contact areas. Technology leading countries, the United States, United Kingdom, France, Germany, and Israel, have developed and operated various SUGVs for use in the military and civilian fields. The developed system was upgraded further based on additional requirements associated with data collected during the actual operation. The development trends of technology leading countries are an important indicator for the future development of SUGVs. In this study, the development trends and missions of SUGVs operating in the technology leading countries were analyzed. Based on the development trends of SUGVs in these countries, this paper discusses the features and design characteristics needed for the development of SUGVs in future military and civilian domains.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.12 no.5
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• pp.2360-2366
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• 2011

The Unmanned Ground Vehicle is comprised of four systems of obstacle detection: The navigation system, vehicle controlling system, obstacle detecting and an integration system that use the various sensors. The research introduced utilizes 6 lasers to recognize obstacles. The system operates an avoidance system within the unmanned ground vehicle, using six lasers. The Unmanned Ground Vehicle's parallel parking and right angle parking is in development using algorithms. This algorithms' certification is intended to be installed in the encoder, in the GPS. By using the Laser Scannerfor the position's calculation, errors are both reduced and minimized, so the tire's slip minimized to the point where the vehicle had a limit of about 5Km/h.

• Journal of Advanced Marine Engineering and Technology
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• v.40 no.9
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• pp.830-835
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• 2016

With the relaxation of regulations on unmanned aerial vehicles (UAVs) in the USA, the development of related industries is expected. Hence, it is anticipated that the number the UAVs will reach approximately 600,000 in the USA in 2017. However, automated flights of commercial UAVs are restricted owing to concerns about accidents. To deal with the possibility of collisions, several studies on collision prevention and the routing of UAVs have been conducted. However, these studies do not deal with various situations dynamically or provide efficient solutions. Therefore, we propose a centralized routing method for the UAV that uses vehicular networks. In the proposed scheme, vehicular networks regard UAVs as data packets to be routed. Accordingly, the proposed method reduces UAV processing power required for route searches. In addition, the routing efficiency for UAV flight paths can be improved since congestion can be minimized by using a vehicular network.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.19 no.12
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• pp.910-917
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• 2018

This paper describes the developments to improve the feeling and safety of the remote control system of unmanned vehicles. Generally, in the case of the remote control systems, a joystick-type device or a simple steering-wheel are used. There are many cases, in which there are operations without considering the feedback to users and driving feel. Recently, as the application area of the unmanned vehicles has been extended, the problems caused by not considering the feedback are emphasized. Therefore, the need for a force feedback-haptic control arises to solve these problems. In this study, the force feedback-haptic control algorithm considering the vehicle parameters is proposed. The vehicle parameters include first the state variables of dynamics, such as the body side-slip angle (${\beta}$) and yawrate (${\gamma}$), and second, the parameters representing the driving situations. Force feedback-haptic control technology consists of the algorithms for general and specific situations, and considers the situation transition process. To verify the algorithms, a simulator was constructed using the vehicle dynamics simulation tool with CAN communication environment. Using the simulator, the feasibility of the algorithms was verified in various scenarios.

• Journal of Korea Society of Industrial Information Systems
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• v.26 no.1
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• pp.31-40
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• 2021

The important goal of the unmanned vehicle technology is on controlling the direction and speed of the vehicle with information acquired from various sensors, without the intervention of the driver, until the vehicle reaches to its destination. In this paper, our focus is on developing an unmanned conveyance system by exploiting low-cost sensing technology for indoor factories or warehouses, where the moving range of the vehicle is limited. To this end, we propose an architecture of a scalable automated conveyance system. Our proposed system includes a number of unmanned conveyance vehicles, and the efficient control mechanism of the vehicles without neither conflicts nor deadlock between the vehicles being simultaneously moved. By implementing the real prototype of the system, we successfully verify the efficiency and functionality of the proposed system.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.40 no.5
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• pp.525-530
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• 2016

In this paper, we proposed an image shaking index to evaluate the remote controllability of vision based unmanned vehicles. To analyze the usefulness of the proposed image-shaking index, we perform subjective tests using a virtual unmanned vehicle driving simulator. The developed driving simulator consists of a real-time multibody dynamic software of the unmanned vehicle, a motion simulator, and a driver console. We perform dynamic simulations to obtain the motion of the unmanned vehicle running on the various road surfaces such as ISO roughness level A~E roads. The motion of the vehicle body is reflected in the motion simulator. Then, to enable remote control operation, we offer to operators the image data that was measured using the camera sensor on the simulator. We verify the usefulness of the proposed image-shaking index compared with subjective index provided by operators.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.41 no.11
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• pp.1047-1053
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• 2017

The range data acquired by 2D/3D LIDAR, a core sensor for autonomous navigation of an unmanned ground vehicle, is effectively used for ground modeling and obstacle detection. Within the ambiguous boundary of a road environment, however, LIDAR does not provide enough information to analyze the traversable region. This paper presents a new method to analyze a candidate area using the characteristics of LIDAR reflectivity for better detection of a traversable region. We detected a candidate traversable area through the front zone of the vehicle using the learning process of LIDAR reflectivity, after calibration of the reflectivity of each channel. We validated the proposed method of a candidate traversable region detection by performing experiments in the real operating environment of the unmanned ground vehicle.