• Journal of the HCI Society of Korea
• /
• v.14 no.2
• /
• pp.21-29
• /
• 2019

Take-over requests in semi-autonomous cars must be handled properly in the case of road obstacles or curved roads in order to avoid accidents. In these situations, situation awareness and appropriate decision making are essential for distracted drivers. This study used a driving simulator to investigate the components of auditory-visual information systems that affect safety, workload, and trust. Auditory information consisted of either voice guidance providing situation awareness for the take-over or a beep sound that only alerted the driver. Visual information consisted of either a screen showing how to maneuver the vehicle or only an icon indicating a take-over situation. By providing auditory information that increased situation awareness and visual information that aided decision making, trust and safety increased, while workload decreased. These results suggest that the levels of situation awareness and decision making ability affect trust, safety, and workload for drivers.

• The Journal of the Korea institute of electronic communication sciences
• /
• v.18 no.5
• /
• pp.981-988
• /
• 2023

As the usage of unmanned aerial vehicles expands, the development and the demand of related technologies are increasing. As the frequency of operation increases and the convenience of operation is emphasized, the importance of related autonomous flight technology is also highlighted. Establishing a path plan to reach the destination in autonomous flight of an unmanned aerial vehicle is important in guidance and control, and a technology for automatically generating path plan is required in order to maximize the effect of unmanned aerial vehicle. In this study, the optimization research of path planning using rapid-exploring random tree method was performed for increasing the effectiveness of autonomous operation. The path planning optimization method considering the characteristics of the unmanned aerial vehicle is proposed. In order to achieve indexes such as optimal distance, shortest time, and passage of mission points, the path planning was optimized in consideration of the mission goals and dynamic characteristics of the unmanned aerial vehicle. The proposed methods confirmed their applicability to the generation of path planning for unmanned aerial vehicles through performance verification for obstacle situations.

• International Journal of Fuzzy Logic and Intelligent Systems
• /
• v.7 no.1
• /
• pp.41-48
• /
• 2007

Latest advances in network sensor technology and state of the art of mobile robot, and artificial intelligence research can be employed to develop autonomous and distributed monitoring systems. In this study, as the preliminary step for developing a multi-purpose "Intelligent Space" platform to implement advanced technologies easily to realize smart services to human. We will give an explanation for the ISpace system architecture designed and implemented in this study and a short review of existing techniques, since there exist several recent thorough books and review paper on this paper. Instead we will focus on the main results with relevance to the DIND data fusion with CI of Intelligent Space. We will conclude by discussing some possible future extensions of ISpace. It is first dealt with the general principle of the navigation and guidance architecture, then the detailed functions tracking multiple objects, human detection and motion assessment, with the results from the simulations run.

• Journal of Electrical Engineering and Technology
• /
• v.7 no.1
• /
• pp.132-140
• /
• 2012

A non-conservative robust Kalman filter (NCRKF) is applied to flight data to identify the aerodynamic derivatives of an unmanned autonomous vehicle (UAV). The NCRKF is formulated using UAV lateral motion data and then compared with results from the conventional Kalman filter (KF) and the recursive least square (RLS) method. A superior performance for the NCRKF is demonstrated by simulation and real flight data. The NCRKF is especially effective in large uncertainties in vehicle modeling and in measuring flight data. Thus, it is expected to be useful in missile and aircraft parameter identification.

• Proceedings of the KIEE Conference
• /
• 2001.07d
• /
• pp.2335-2337
• /
• 2001

In this paper, we address a new complete coverage navigation algorithm and guidance methodology for the cleaning robot. The proposed algorithm is based on the grid map. Six templates, excluding a Back-Trace(BT) template are used as the local navigation method. The effectiveness of the algorithm proposed in this paper is thoroughly demonstrated through simulations and the evaluation of parameters for the path execution.

• Journal of the Korea Institute of Military Science and Technology
• /
• v.19 no.3
• /
• pp.404-414
• /
• 2016

Autonomy of unmanned systems is important because the unmanned system with high level of autonomy is able to perform desired tasks in unstructured environments without continuous human guidance. Evaluation of their autonomy is vital to realize the autonomous operation ability of unmanned system. Compared to the methods of evaluating the level of autonomy(LOA) for an unmanned ground vehicle(UGV) and unmanned aerial vehicle(UAV), the method of expressing the LOA of unmanned maritime system(UMS) is not established yet. Since UMS has a unique characteristics in terms of operational area, mission complexity and required technologies, compared to the UGV and UAV, it is required to establish for expressing the LOA for UMS. This paper reviews the current approaches to assess the LOA of unmanned system and proposes potential metrics for UMS in order to determine the autonomy levels of UMS.

• Proceedings of the Korean Society of Computer Information Conference
• /
• 2021.01a
• /
• pp.153-154
• /
• 2021

본 논문에서는 ROS(Robot Operating System)를 기반으로 한 로봇(Robot)에 LiDAR 센서를 설치하여 SLAM(Simultaneous Localization and Mapping) 기술인 동시적 위치 추적 지도 작성 기법을 이용하여 실내 맵 정보를 습득하고, 이를 기반으로 장애물과 건물 실내를 안전하고 정확하게 이동할 수 있도록 하였다. 또한 로봇에 자바에서 제공하는 개발 툴킷 Swing 및 AWT 라이브러리를 이용하여 GUI(Graphical User Interface)를 구현하였고 터치스크린을 장착하여 사용자가 원하는 제품을 선택하고 선택한 제품의 목적지를 습득한 맵을 토대로 좌표 값을 설정하여 ROS에서 지원하는 이동 프로세스를 실행시켜 목적지까지 경로를 설정하고 자율 주행하게 된다.

• ETRI Journal
• /
• v.45 no.5
• /
• pp.746-757
• /
• 2023

This study presents a novel safe landing algorithm for urban drone deliveries. The rapid advancement of drone technology has given rise to various delivery services for everyday necessities and emergency relief efforts. However, the reliability of drone delivery technology is still insufficient for application in urban environments. The proposed approach uses the "landing angle control" method to allow the drone to land vertically and a rapidly exploring random tree-based collision avoidance algorithm to generate safe and efficient vertical landing paths for drones while avoiding common urban obstacles like trees, street lights, utility poles, and wires; these methods allow for precise and reliable urban drone delivery. We verified the approach within a Gazebo simulation operated through ROS using a six-degree-of-freedom drone model and sensors with similar specifications to actual models. The performance of the algorithms was tested in various scenarios by comparing it with that of stateof-the-art 3D path planning algorithms.

• Journal of Digital Convergence
• /
• v.13 no.1
• /
• pp.297-304
• /
• 2015

Recently, the demand for a PRT(Personal Rapid Transit) system based on autonomous navigation is increasing. Accordingly, the applicability investigations of the PRT system on rail tracks or roadways have been widely studied. In the case of unmanned vehicle operations without physical guideways on roadways, to monitor the position of the vehicle in real time is very important for stable, robust and reliable guidance of an autonomous vehicle. The Global Positioning System (GPS) has been commercially used for vehicle positioning. However, it cannot be applied in environments as tunnels or interiors of buildings. The PRT navigation system based on magnetic markers reference sensing that can overcome these environmental restrictions and the vehicle dynamics model for its H/W configuration are presented in this study. In addition, the design of a control S/W dedicated for unmanned operation of a PRT vehicle and its prototype implementation for experimental validation on a pilot network were successfully achieved.

• The Journal of The Korea Institute of Intelligent Transport Systems
• /
• v.22 no.5
• /
• pp.163-181
• /
• 2023

Improving the detection performance of facilities corresponding to the sensors of autonomous vehicles helps driving safety. In the road and transportation field, research is being conducted to improve the detection performance of sensors by road infrastructure or facilities. As part of this on the development of autonomous driving support infrastructure, the shape of traffic cones and drums to ensure sufficient LiDAR detection performance even rainy conditions and maintain the line-of-sight guidance function in construction zones improvement effect. The principle was to increase reflection performance and ensure no significant difference in shape from existing facilities. Traffic cones were manufactured in square pyramid shapes instead of cones, and drums were manufactured in hexagonal and octagonal pillar shapes instead of cylinders. LiDAR detection data for the facility was confirmed on a clear day and with 20 mm/h and 40 mm/h rainfall. The detection performance of the square pyramid-shaped traffic cone and octagonal column-shaped drum was to the existing facility. On the other hand, deviations occurred due to repeated measurements, and significance could not be confirmed through statistical analysis. By reflecting these results, future studies will seek a form in which data can be obtained uniformly despite the diversity of measurement environments.