• Journal of Institute of Control, Robotics and Systems
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• v.7 no.9
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• pp.774-782
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• 2001

In this paper, we propose a new approach to the autonomous and high-speed indoor navigation of wheeled mobile robots using hybrid system controller. The hierarchical structure of hybrid system presented consists of high-level reasoning process and the low-level motion control process and the environmental interaction. In a discrete event system, the discrete states are defined by the user-defined constraints and the reference motion commands are specified in the abstracted motions. The hybrid control system applied for the nonholonomic mobile robots can combine the motion planning and autonomous navigation with obstacle avoidance in the indoor navigation problem. For the evaluation of the proposed algorithm, the algorithm is implemented to the two-wheel driven mobile robot system. The experimental results show that the hybrid system approach is an effective method for the autonomous navigation in indoor environments.

• Proceedings of the Korean Institute of Navigation and Port Research Conference
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• 2016.05a
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• pp.81-84
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• 2016

Mombasa is the principle port of Kenya, serving hinter countries in Eastern and central Africa. Mombasa port has undergone a massive infrastructure upgrade and dredging works with an expectation that more vessels and large post Panamax ships will be able to call at Mombasa port. Therefore, it is vital to carry out a marine traffic risk assessment so as to quantify the degree of navigation safety on Mombasa approach channel and also to evaluate navigation risk imposed on transit traffic by local ferry traffic. In this paper marine traffic risk assessment is carried out using IWRAP mk2, Environmental Stress model, and PARK model. Risk assessment results show that Likoni area has unacceptable stress/ risk ranking at 20.7% on ES model and 38.89% by PARK model. IWRAP mk2 model shows that crossing area has the highest risk of crossing collision and the area at the entrance to inner channel has a high risk of grounding. The conclusions derived from this study will provide the basis for proposing the most effective countermeasure so as to improve navigation safety in Mombasa approach channel.

• Journal of Mechanical Science and Technology
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• v.15 no.8
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• pp.1097-1107
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• 2001

In this paper, the wall following navigation algorithm of the mobile robot using a mono vision system is described. The key points of the mobile robot navigation system are effective acquisition of the environmental information and fast recognition of the robot position. Also, from this information, the mobile robot should be appropriately controlled to follow a desired path. For the recognition of the relative position and orientation of the robot to the wall, the features of the corridor structure are extracted using the mono vision system, then the relative position, the offset distance and steering angle of the robot from the wall, is derived for a simple corridor geometry. For the alleviation of the computation burden of the image processing, the Kalman filter is used to reduce search region in the image space for line detection. Next, the robot is controlled by this information to follow the desired path. The wall following control scheme by the PD control scheme is composed of two control parts, the approaching control and the orientation control, and each control is performed by steering and forward-driving motion of the robot. To verify the effectiveness of the proposed algorithm, the real time navigation experiments are performed. Through the result of the experiments, the effectiveness and flexibility of the suggested algorithm are verified in comparison with a pure encoder-guided mobile robot navigation system.

• ETRI Journal
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• v.29 no.5
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• pp.688-690
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• 2007

This letter presents a filter for a car navigation system integrating a low-grade inertial measurements unit (IMU) and a global positioning system receiver. The filter is designed according to the state variables to be estimated and the usable measurements. The usable measurements change from case to case, and the estimative state variables also change due to the measurements; therefore, multiple models must be used for real environmental maneuvers. In this letter, four models for land navigation are chosen and switched by rearranging the system matrix and resetting the error covariance matrices.

• Proceedings of the Korean Institute of Navigation and Port Research Conference
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• 2022.11a
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• pp.168-169
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• 2022

In this study, we investigates the auto-berthing problem for the underactuated surface vessel in the presence of constraints of dynamic uncertainties, finite time, transmission load, and environmental disturbance. A novel control scheme is proposed by fusing the finite time control technology and the event-triggered input algorithm. In the algorithm, differential homeomorphism coordinate the transformation is used to solve the problem of underactuation. Then, we apply the finite time technology and event triggered to save the time of the berthing vessel and relieve transmission burden between the controller and the vessel respectively. Moreover, a radial basis function network is used to approximate unknown nonlinear functions, and minimum learning parameters are introduced to lessen the computational complexity. A sufficient effort has been made to verify the stability of the closed-loop system based on the Lyapunov stability theory. Finally, simulation results display the effectiveness of the proposed scheme.

• Journal of Navigation and Port Research
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• v.27 no.5
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• pp.479-486
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• 2003

The concept of “Environmental Stress(ES)” can be used as a useful index when assessing the maritime traffic safety. It is composed of two parts, one due to geographical restriction and another one due to traffic congestion. In this paper, Environmental Stress due to geographical restriction is reviewed Its characteristics are surveyed from the sample calculation results for some hypothetical cases, such as approaching a breakwater, navigating in a long straight channel, and in a long bended channel. Sample calculations are also carried out for the approach channels in Busan and Kwangyang harbor. By using this ES concept, it is expected that objective ana quantitative assessment of safety is possible for various environmental conditions when navigating in a harbor or in a fairway.

• Journal of Advanced Navigation Technology
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• v.22 no.5
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• pp.343-350
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• 2018

The number of international passengers at Gimhae International Airport, the fourth-largest airport in Korea, is gradually increasing. This raised the need for a new airport in southeastern region, and Ministry of Land, Infrastructure and Transport decided to build a new runway for Gimhae International Airport. In this study, to predict the noise generated by a new runway, the noise analysis using the aviation environmental design tool (AEDT) of Federal Aviation Administration (FAA) was performed. In this paper, when a new runway was built at the Gimhae International Airport, an area of noise damage that is increasing than the present was predicted using arrival and departure data of airlines in a day.

• Proceedings of the Korean Institute of Navigation and Port Research Conference
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• 2003.05a
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• pp.198-205
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• 2003

The concept “Environmental Stress(ES)” can be used as a useful index when assessing the maritime traffic safety. It is composed of two parts, one due to geographical restriction and another one due to traffic congestion. In this paper, Environmental Stress due to geographical restriction is reviewed. Its characteristics are surveyed from the sample calculation results for some hypothetical cases, such as approaching a breakwater, navigating in a long straight channel, and in a long bended channel. Sample calculations are also carried out for the approach channels in Busan and Kwangyang harbor. By using this ES concept. it is expected that objective and quantitative assessment of safety is possible for various environmental conditions when navigating in a harbor or in a fairway.

• Journal of Navigation and Port Research
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• v.37 no.1
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• pp.9-14
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• 2013

The e-navigation has been being developed in IMO is a sort of strategy to provide user-oriented services for safe navigation and environmental protection based on the architecture and its related services complying with the user needs. At NAV $57^{th}$ meeting in 2011, the overarching e-navigation architecture was approved which represent overall relationship only between onboard and ashore elements, so more detail technical architecture for each element should be developed for implementation in view of services and systems. Considering the continuous and iterative verification of e-navigation development process required by IMO, the relationship and traceability should be took in consideration between the outcome of e-navigation process and the element of the architecture. In this paper, we have surveyed literarily the user needs, result of gap analysis and practical solutions to address them and defined the architecture elements and their relationship considering the three kinds of views of DoDAF(Architecture Framework) of US department of Defence, in result, proposed the e-navigation shipboard technical architecture.

• Proceedings of the KSEEG Conference
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• 2001.05a
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• pp.47-57
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• 2001