• Journal of Institute of Control, Robotics and Systems
• /
• v.15 no.2
• /
• pp.155-162
• /
• 2009

In walking guide robot, a guide vehicle detects an obstacle distribution in the walking space using range sensors, and generates a 3D grid map to map the obstacle information and the tactile display. And the obstacle information is transferred to a blind pedestrian using tactile feedback. Based on the obstacle information a user plans a walking route and controls the guide vehicle. The algorithm for 3D detection of an obstacle distribution and the method of mapping the generated obstacle map and the tactile display device are proposed in this paper. The experiment for the 3D detection of an obstacle distribution using ultrasonic sensors is performed and estimated. The experimental system consisted of ultrasonic sensors and control system. In the experiment, the detection of fixed obstacles on the ground, the moving obstacle, and the detection of down-step are performed. The performance for the 3D detection of an obstacle distribution and space mapping is verified through the experiment.

• The Journal of Korean Institute of Communications and Information Sciences
• /
• v.37C no.10
• /
• pp.925-932
• /
• 2012

In this paper, we develop a pattern recognition algorithm applied to a humanoid robot which is exploited as a guide for visually handicapped persons to find a desired path to their destinations. Behavior primitives of a humanoid robot are defined, and Canny's edge detection algorithm is employed to extract the pattern and color of the paving blocks that especially devised for visually handicapped persons. Based on these, an efficient path finding algorithm is developed and implemented on a humanoid robot, running on an embedded linux operating system equipped with a video camera. The performance of our algorithm is experimentally examined in terms of the response time and the pattern recognition ratio. In order to validate our algorithm in various realistic environments, the experiments are repeatedly performed by changing the tilt of paving blocks and the brightness in surrounding area. The results show that our algorithm performs sufficiently well to be exploited as a path finding system for visually handicapped persons.

• The Journal of The Korea Institute of Intelligent Transport Systems
• /
• v.7 no.4
• /
• pp.1-12
• /
• 2008

The issues of developing the value added services for public transport connectivity and transfer with information and communication technologies has been discussed in terms of incorporating system facilities with public transit modes to increase the ridership of public transit. This paper demonstrates a conceptual model for providing the location based public transit transfer information service on demand with respect to system requirements, subsystems, and logical architecture based on the national ITS architecture. The subsystems in this study which include transfer information center, parking concierge, user route guidance and information provision system are also investigated in detail in order for information service and/or contents provider to develop business models on public transit connectivity and transfer. This model is expected to be utilized in providing the variety of service models with the different types of public transit connectivity and transfer systems according to the system scale and the public transit modes.

• Journal of Korean Society of Transportation
• /
• v.27 no.5
• /
• pp.169-177
• /
• 2009

Establishing a public transportation transfer system that can reduce personal automobile use in the CBD and absorb the demand, thereby reducing congestion, is a necessity. However, the current transfer system and facilities are lacking in intermodal connectivity, require long transfer times, have complex flow patterns, and are lacking in information systems and convenience. The design analysis program of this study is to develop a program that executes computations of design analysis of transfer facilities by utilizing the existing design standards for facilities such as facilities for boarding and alighting, elements for convenience, and pedestrian facilities. Developing an analytical tool through which individual or integrated design analysis can be conducted on the design standards of various facilities is an important study for improving the work accuracy and efficiency of designing an actual transfer center.

• The Journal of The Korea Institute of Intelligent Transport Systems
• /
• v.6 no.2
• /
• pp.45-56
• /
• 2007

As function and scale of the transit center get larger, the efficient guidance system in the transit center is essential for transit users in order to find their efficient routes. Although there are several studies concerning optimal path for the road, but insufficient studies are executed about optimal path inside the building. Thus, this study is to develop the algorithm about optimal path for car owner from the basement parking lot to user's destination in the transfer station. Based on Dijkstra algorithm which calculate horizontal distance, several factors such as fatigue, freshness, preference, and required time in using moving devices are objectively computed through rank-sum and arithmetic-sum method. Moreover, optimal public transportation is provided for transferrer in the transfer station by Neuro-Fuzzy model which is reflected on people's tendency about public transportation mode choice. Lastly, some scenarios demonstrate the efficiency of optimal path algorithm for pedestrian in this study. As a result of verification the case through the model developed in this study is 75 % more effective in the scenario reflected on different vertical distance, and $24.5\;{\sim}\;107.7\;%$ more effective in the scenario considering different horizontal distance, respectively.