• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2000년도 제15차 학술회의논문집
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• pp.398-398
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• 2000

Since there is a blind zone in driver's view around the excavator, industrial accidents between the equipment and the workers within the zone have been occurred frequently. The purpose of this paper is to develop a obstacle recognition system which can prevent such an accident by providing the driver with the information on direction and distance of the obstacle within the blind zone. We designed the ultrasonic sensor based obstacle recognition system which consists of sensor arrays and a control unit connected via CAN(controller area network). The Cross-correlation technique and histogramic probability distribution method are used as a reliable obstacle detection algorithms to remove the environmental noise. The experimental results using a real excavator show the effectiveness of the system.

• International Journal of Fuzzy Logic and Intelligent Systems
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• 제9권3호
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• pp.213-218
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• 2009

This paper describes a classical algorithm carrying out dynamic 3D obstacle recognition for autonomous underwater vehicles (AUVs), Support Vector Machines (SVMs). SVM is an efficient algorithm that was developed for recognizing 3D object in recent years. A recognition system is designed using Support Vector Machines for applying the capabilities on appearance-based 3D obstacle recognition. All of the test data are taken from OpenGL Simulation. The OpenGL which draws dynamic obstacles environment is used to carry out the experiment for the situation of three-dimension. In order to verify the performance of proposed SVMs, it compares with Back-Propagation algorithm through OpenGL simulation in view of the obstacle recognition accuracy and the time efficiency.

• 한국산업정보학회논문지
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• 제22권5호
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• pp.25-30
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• 2017

본 논문에서는 초음파 센서를 이용한 저비용 장애물 인식 장치를 개발한다. 개발된 장애물 인식 장치는 시각 장애인들이 보행시 장애물을 인식하는 데 쓰일 수 있도록 한다. 장애물의 인식 여부는 내장된 모터의 진동을 통하여 시각 장애인들에게 인식이 가능하도록 한다. 뿐만 아니라 장애물의 거리에 따라 대상자에게 장애물 인식 유무에 대해 시간차를 두고 고지하여 대상자가 장애물에 대해 적절한 반응을 수행할 수 있도록 한다. 마이크로 컨트롤러 제어를 통한 펄스 신호를 이용하여 장애물에 대한 반사파를 통해 장애물의 존재 유무와 거리를 탐지하며 펄스 신호를 이용한 반사파 탐지는 반복 수행을 통해 인식률을 높인다. 개발된 장애물 인식 장치는 $30^{\circ}$ 내외의 전방 탐지각을 나타내고, 2cm-30cm의 탐지거리를 가지며 일상적인 보행 조건에서 동작이 가능함을 실험을 통해 입증하였다.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2002년도 ICCAS
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• pp.105.1-105
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• 2002

$\textbullet$ This paper deals with obstacle avoidance of a quadruped robot with a vision system and a PSD sensor. $\textbullet$ The vision system needs for obstacle recognition toward robot. $\textbullet$ Ths PSD sensor is also important element for obstacle recognition. $\textbullet$ We propose algorithm that recognizes obstacles with one vision and PSD sensor. $\textbullet$ We also propose obstacle avoidance algorithm with map from obstacle recognition algorithm. $\textbullet$ Using these algorithm, Quadruped robot can generate gait trajectory. $\textbullet$ Therefore, robot can avoid obstacls, and can move to target point.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2001년도 춘계학술대회 논문집
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• pp.170-173
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• 2001

To apply stereo vision system to obstacle recognition system of AGV, we constructed algorithm of stereo matching and distance measuring with stereo image for positioning of object in area. And using this system, we look into the error between real position and measured position, and studied relationship of compensation.

• 제어로봇시스템학회논문지
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• 제18권10호
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• pp.928-933
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• 2012

In this paper, the IR and compass sensors for the underwater system were used. The walls of the water tank have been recognized and avoided treating the walls as obstacles by the bio-mimetic underwater robot. This paper is consists of two parts: 1.The hardware part for the IR and compass sensors and 2.The software part for obstacle avoidance algorithm while the bio-mimetic robot is swimming with the obstacle recognition. Firstly, the hardware part controls through the RS-485 communications between a microcontroller and the bio-mimetic underwater robot. The software part is simulated for obstacle recognition and collision avoidance based upon the data from IR and compass sensors. Actually, the bio-mimetic underwater robot recognizes where is the obstacle as well as where is the bio-mimetic robot itself while it is moving in the water. While the underwater robot is moving at a constant speed recognizing the wall of water tank as an obstacle, an obstacle avoidance algorithm is applied for the wall following swimming based upon the IR and compass sensor data. As the results of this research, it is concluded that the bio-mimetic underwater robot can follow the wall of the water tank efficiently, while it is avoiding collision to the wall.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2013년도 춘계학술대회 논문집
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• pp.1057-1058
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• 2013

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2011년도 춘계학술대회 논문집
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• pp.369-370
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• 2011

• 한국항행학회논문지
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• 제26권6호
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• pp.427-433
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• 2022

무인항공기의 충돌 회피 기술은 장애물에 대한 탐지 기술과 충돌 여부 판단 및 회피 기술이 요구된다. 본 논문은 공선상에 존재하는 다중 정적 장애물에 대한 무인항공기의 충돌 회피를 수행하기 위하여, LiDAR를 활용한 장애물 탐지 알고리즘과 최근접점 기반의 충돌 인식 및 회피 알고리즘을 제안한다. 장애물 탐지를 수행하기 위하여 LiDAR의 측정 데이터 중 지면을 제거하는 전처리를 수행하고, K-평균 군집화 알고리즘을 활용하여 전처리된 데이터에서 장애물을 탐지 및 분류한다. 또한, 상대 항법을 통해 탐지한 다중 장애물의 절대 위치를 추정하며, 저주파 통과 필터를 활용하여 추정 위치를 보정한다. 탐지한 다중 정적 장애물과의 충돌 회피를 수행하기 위해 최근접점 기반의 충돌 인식 및 회피 알고리즘을 활용한다. 각 장애물 간의 거리를 활용하여 회피해야 하는 장애물 정보를 갱신하고, 갱신된 장애물 정보를 통해 충돌 인식 및 회피를 수행한다. 마지막으로 Gazebo 시뮬레이션 환경에서의 장애물 위치 추정, 충돌 인식 및 회피 결과 분석을 통해, 충돌 회피가 정상적으로 수행되는 것을 검증하였다.

• 대한임베디드공학회논문지
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• 제3권3호
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• pp.143-150
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• 2008

In this paper, we investigate a real-time environment recognition system based on stereo vision for moving object. This system consists of stereo matching, obstacle detection and distance estimation. In stereo matching part, depth maps can be obtained real road images captured adjustable baseline stereo vision system using belief propagation(BP) algorithm. In detection part, various obstacles are detected using only depth map in case of both v-disparity and column detection method under the real road environment. Finally in estimation part, asymmetric parabola fitting with NCC method improves estimation of obstacle detection. This stereo vision system can be applied to many applications such as unmanned vehicle and robot.