• Journal of Advanced Navigation Technology
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• v.15 no.5
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• pp.696-704
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• 2011

In this paper, we propose a mobile robot navigation algorithm using data fusion of a monocular camera and ultrasonic sensors. Threshold values for binary image processing are generated by a fuzzy inference method using image data and data of ultrasonic sensors. Threshold value variations improve obstacle detection for mobile robot to move to the goal under poor illumination environments. Obstacles detected by data fusion of camera and ultrasonic sensors are expressed on the grid map and avoided using the circular planning algorithm. The performance of the proposed method is evaluated by experiments on the Pioneer 2-DX mobile robot in the indoor room with poor lights and a narrow corridor.

• The Journal of The Korea Institute of Intelligent Transport Systems
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• v.20 no.1
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• pp.174-192
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• 2021

The LIDAR sensor, which provides higher cognitive performance than cameras and radar, is difficult to apply to ADAS or autonomous driving because of its high price. On the other hand, as the price is decreasing rapidly, expectations are rising to improve existing autonomous driving functions by taking advantage of the LIDAR sensor. In level 3 autonomous vehicles, when a dangerous situation in the cognitive module occurs due to a sensor defect or sensor limit, the driver must take control of the vehicle for manual driving. If the driver does not respond to the request, the system must automatically kick in and implement a minimum risk maneuver to maintain the risk within a tolerable level. In this study, based on this background, a LIDAR-based LKS MRM algorithm was developed for the case when the normal operation of LKS was not possible due to troubles in the cognitive system. From point cloud data collected by LIDAR, the algorithm generates the trajectory of the vehicle in front through object clustering and converts it to the target waypoints of its own. Hence, if the camera-based LKS is not operating normally, LIDAR-based path tracking control is performed as MRM. The HAZOP method was used to identify the risk sources in the LKS cognitive systems. B, and based on this, test scenarios were derived and used in the validation process by simulation. The simulation results indicated that the LIDAR-based LKS MRM algorithm of this study prevents lane departure in dangerous situations caused by various problems or difficulties in the LKS cognitive systems and could prevent possible traffic accidents.

• Journal of Institute of Control, Robotics and Systems
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• v.17 no.8
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• pp.843-850
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• 2011

In this paper, an effective path generation algorithm for obstacle avoidance producing small amount of steering action as possible is proposed. The proposed path generation algorithm can reduce unnecessary steering because of the small lateral changes in generated waypoints when UGV (Unmanned Ground Vehicle) encounters obstacles during its waypoint navigation. To verify this, the proposed algorithm and $A^*$ algorithm are analyzed through the simulation. The proposed algorithm shows good performance in terms of lateral changes in the generated waypoint, steering changes of the vehicle while driving and execution speed of the algorithm. Especially, due to the fast execution speed of the algorithm, the obstacles that encounter suddenly in front of the vehicle within short range can be avoided. This algorithm consider the waypoint navigation only. Therefore, in certain situations, the algorithm may generate the wrong path. In this case, a general path generation algorithm like $A^*$ is used instead. However, these special cases happen very rare during the vehicle waypoint navigation, so the proposed algorithm can be applied to most of the waypoint navigation for the unmanned ground vehicle.

• The Journal of the Korea institute of electronic communication sciences
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• v.12 no.1
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• pp.31-38
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• 2017

As the structure of a construction, such as a building and a shopping mall, becomes more wide and complex, it is difficult for an user to find out a path to a desginated destination. However, since the existing navigation systems exploit the Global Positioning System in order to measure a current position, it is impossible to be used on the indoor environment. To solve this problem, we propose an indoor navigation system using beacon signal. The proposed system connects to a pre-installed beacon exploiting bluetooth on the user's smartphone. After receiving the data of the beacon, the system generates and displays a path based on the destination which the user put on and the current position measured by the beacon's data. The implemented indoor navigation system has the benefit to show the path to the destination easily at the complex indoor structure.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.36 no.12A
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• pp.994-1005
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• 2011

In this paper, we propose a novel approach to optimize the movement of mobile sink node, called AMSP(Adaptive Mobile Sink Path) for mobile sensor network environments. Currently available studies usually suffer from unnecessary data transmission resulting from random way point approach. To address the problem, we propose a method which uses the Hilbert curve to create a path. The proposed method guarantees shorten transmission distance between the sink node and each sensor node by assigning orders of the curve according to sensor node density. Furthermore, The schedule of the sink node is informed to all of the sensing nodes so that the Duty Cycle helps the network be more energy efficient. In our experiments, the proposed method outperforms the existing works such as TTDD and CBPER by up to 80% in energy consumption.

• KSCE Journal of Civil and Environmental Engineering Research
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• v.26 no.5D
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• pp.731-738
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• 2006

Facing congestion, people want to know traffic information about their routes, especially real-time link travel time (LTT). In this paper, as a sequel paper of the previous non-taxi based LTT generating study by Choi et al. (1998), taxi based GPS probes have been tried to produce LTT for urban arterials. Taxis in itself are good deployment mode of GPS probes although it by nature experiences boarding and alighting time noises which should be accounted. A heuristic real-time dynamic outlier filter algorithm for taxi GPS probe has been developed focusing on urban arterials. An actual traffic survey for dynamic link travel times has been conducted using license plate method for the test arterials of Seoul city transportation network. With the algorithm, it is estimated that 70% of outliers have been filtered and the relative error has been improved by 73.7%. The filtering algorithm developed here would be expected to be in use for other spatial sites with some calibration efforts. Some limitations and future research agenda have also been discussed.

• Journal of the Korean Institute of Intelligent Systems
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• v.20 no.1
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• pp.54-59
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• 2010

This paper present to study the guidance system as localization technique using sensor fusion and line tracking technique using virtual line for AGV(autonomous guided vehicle). An existing AGV could drive on decided line only. And representative guidance systems of such guidance system are magnet-gyro guidance and wired guidance. However, those have had the high cost of installation and maintenance, and the difficulty of system change according to variation of working environment. To solve such problems, we make the localization system which is fused with a laser navigation and gyro, encoder. The system is robust against noise, and flexible according to working environment through sensor fusion. For line tracking of laser navigation without wire guidance, we set the virtual line in program, and design the driving controller based on difference of angle and distance between AGV's position and decided virtual line. To experiment, we use the AGV which is made by ourselves, and experiment the line tracking repeatedly on same experimental environment. In result, maximum distance error between decided virtual line and AGV's position was less than 49.93mm, and we verified that the proposed system is efficient for line tracking of actual AGV.

• Journal of IKEEE
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• v.2 no.1 s.2
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• pp.139-149
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• 1998

There are some problems in robot navigations with a single kind of sensor. We propose a system that takes advantages of both CCD camera and ultrasonic sensors for the concerning matter. A coordinate extraction algorithm to avoid obstacles during the navigation is also proposed. We implemented a CCD based vision system at the front part of the vehicle and did experiments to verify the suggested algorithm's availability. From experimental results, the error rate was reduced when a CCD camera was used rather than when only ultrasonic sensors were used. Also we can generate path to avoid those obstacles using the measured values.

• Proceedings of the KIEE Conference
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• 2011.07a
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• pp.1930-1931
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• 2011

세계적으로 많은 연구원들이 3차원 모델링에 대하여 연구하고 있다. 특히 무인자동차의 주행을 위한 센서시스템, 경로생성, 3차원 월드모델링 방법 등에 대한 연구가 많이 진행되고 있다. 이 논문은 스테레오 카메라를 이용한 3차원 도시환경복원을 위한 방법을 제안한다. 전체적인 시스템은 다중센서(스테레오 카메라, DGPS, IMU), PC, 이동로봇(전기차)으로 구성하였다. 스테레오 카메라를 통해 들어오는 이미지는 스테레오 정합기법을 이용하여 지역좌표계의 3차원 점군을 획득하는데 이용되며, DGPS와 IMU를 통해 얻은 정보는 이동로봇의 위치를 추정하는데 이용된다. 지역좌표계의 3차원 점군과 이동로봇의 위치를 융합하면 세계좌표계의 3차원 점군을 얻을 수 있으며, 이를 이용하여 도시환경을 복원을 시행하였다. 또한 스테레오 정합기법을 통해 얻어지는 점군의 중복복원을 회피하기 위하여 임시추적을 이용한다. 임시추적을 통해 동일한 점으로 판단되는 경우 중복복원을 방지하는 알고리즘을 제안한다. 실험결과는 3차원 도시환경 복원을 수행하여 점군으로 표현하였다.

• Journal of the Korea Institute of Military Science and Technology
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• v.13 no.6
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• pp.951-957
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• 2010

An optimal path generation method considering the safety of UGV(Unmanned Ground Vehicle) is proposed and demonstrated through examples. Among various functions of UGV, real-time obstacle avoidance is a key issue to realize realistic scenario in FCS(Future Combat Systems). A two-dimensional narrow corridor environment is considered as a test field. For each step of UGV movement, two objectives are considered: One is to minimize the distance to the target and the other to maximize the distance to the nearest point of an obstacle. A weighted objective function is used in the optimization problem. Equality and inequality constraints are taken to secure the UGV's dynamics and safety. The weighting factors are controlled by a fuzzy controller which is constructed by a fuzzy rule set and membership functions. Simulations are performed for two cases. First the weighting factors are considered as constant values to understand the characteristics of the corresponding solutions and then as variables that are adjusted by the fuzzy controller. The results are satisfactory for realistic situations considered. The proposed optimal path generation with the fuzzy control is expected to be well applicable to real environment.