• Journal of Korea Society of Industrial Information Systems
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• v.25 no.3
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• pp.31-38
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• 2020

In this paper, we compare and analyze smart technologies and present six obstacle detection features to help visually impaired people walk. Traditionally, visually impaired people walk with the white cane or a guide dog. With the development of IoT technology, various smart walking aids systems have been developed. Those intelligent walking aids systems have obstacle-detecting systems and route-guidance systems. Many researchers are developing the walking aids system, which detects an obstacle and provides the obstacle information by haptic feedback. Also, they are designing the database server system to share the obstacle information. Particularly the composed system can quickly give an obstacle-avoidance route using shared obstacle information. Smart walking aids systems for visually impaired people will advance more rapidly by applying machine learning and intelligent systems.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 2015.10a
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• pp.522-525
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• 2015

In this paper, we propose a walking aid system that guides route to visually impaired people in order to recognize uncertain obstacles based on tactile stimulation. The proposed system is composed of the touch-based obstacle detection module, the obstacle height detection module, and the route guidance algorithms. The touch-based obstacle detection module detects each obstacle, which is located at left, right, and front of a visually impaired person by stimulating his thumb with the rotational force of the servomotor. The obstacle height detection module integrates detected data by the linear arrangement of ultrasonic sensors to identify the height of an obstacle about 3 of-phase(i.e., high, medium, low). The proposed route guidance algorithm guides an optimized path to the visually impaired person by updating his current position information based on the signal of the built-in GPS receiver in smartphone. In addition, the route guidance algorithm delivers information with speech to a visually impaired person through Bluetooth commuination in the developed route guidance app. The proposed system can create a path to avoid the obstacles by recognizing the placed situation of the obstacles with exploring the uncertain path.

• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.487-490
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• 2003

In this research, we will devise an obstacle avoidance algorithm for a previously unmanned vehicle. Whole systems consist mainly of the vehicle system and the control system. The two systems are separated; this system can communicate with the vehicle system and the control system through wireless RF (Radio Frequency) modules. These modules use wireless communication. And the vehicle system is operated on PIC Micro Controller. Obstacle avoidance method for unmanned vehicle is based on the Virtual Force Field (VFF) method. An obstacle exerts repulsive forces and the lane center point applies an attractive force to the unmanned vehicle. A resultant force vector, comprising of the sum of a target directed attractive force and repulsive forces from an obstacle, is calculated for a given unmanned vehicle position. With resultant force acting on the unmanned vehicle, the vehicle's new driving direction is calculated, the vehicle makes steering adjustments, and this algorithm is repeated.

• IEMEK Journal of Embedded Systems and Applications
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• v.6 no.5
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• pp.281-286
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• 2011

FMCW Radar sensor is commonly used for an automobile collision avoidance system for rider's safe. Systems using FMCW radar, however, would be one of expensive solutions for just simple rear obstacle detection purpose due to its high cost. In this letter, a short range rear obstacle detector using novel 24GHz AM radar sensor is presented. It can be implemented at significantly lower cost than FMCW radar for practical commercialization. The proposed AM radar sensor module is fabricated in a single aluminum housing to reduce the overall size while using single power supply voltage of 12V with 1200mA current for automotive applications. The measured detection range is up to 210cm with 10cm of distance resolution, which is suitable for a parking assistance system for automobiles.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2002.05a
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• pp.487-490
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• 2002

AGV is very useful equipment to transfer containers in automated container terminal. AGV must have Obstacle Detection System (ODS) fur port automation. ODS needs the function to classify some specified object from background in acquired data. And it must be able to track classified moving objects. Finally, ODS could determine its next action for safe deriving whether it should do emergency stop or speed down, or it should change its deriving lane. For these functions, ODS can have many different kinds of algorithm. In this paper, we present one of them under developing.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 1997.10a
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• pp.467-471
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• 1997

AGV is very proper equipment for Port Automation. AGV must have Obstacle Detection System(ODS) for port automation. Obstacle Detection System must have some functions. It must be able to classify some specified object from background data. And it must be able to track classified objects. Finally, ODS must determine its next action for safe cruise whether it must do emergency stop or it must speed down or it must change it track. For these functions, ODS can have many different structure. In this paper, we will propose one structure among some possible own which is under construction.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.57 no.7
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• pp.1260-1272
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• 2008

This paper proposes object detection algorithm using laser scanner and vision system for the path planning of autonomous mobile agents. As the scanner-based method can observe the obstacles in only two dimensions, it is hard to detect the shape and the number of obstacles. On the other hand, vision-based method is sensitive to the environment and has its difficulty in the accurate distance measurement. Thus, we combine these two methods based on K-means algorithm such that the obstacle avoidance and optimal path planning of autonomous mobile agents can be achieved.

• Agricultural and Biosystems Engineering
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• v.2 no.2
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• pp.69-74
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• 2001

Detection of operation lines in farm works, object recognition and obstacle avoidance are essential pre-requisite technologies for unmanned agricultural machinery. A CCD camera, which has been largely used for these functions, is expensive and has difficulty in real-time signal processing. In this study, a laser range sensor was selected as the guiding vision for unmanned agricultural machinery such as a tractor. To achieve this capability, algorithms for distance measurement, signal filtering, object recognition, and obstacle avoidance were developed. Computer simulations were carried out to evaluate performance of the algorithms. Experiments were also conducted with various materials and shapes, Laser beam lost its intensity for poor reflective materials, resulting in less range value than actual, so a compensation technique was considered to be necessary. Object detection system was fabricated on an agricultural tractor and the performance was evaluated. As test result for obstacle detection and avoidance in field, to detect and avoid obstacle for path finding with guiding system for unmanned agricultural machinery was enable.

• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.932-937
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• 2003

In this paper, we will explain about the unmanned vehicle control and modeling for combined obstacle avoidance and lane tracking. First, obstacle avoidance is considered as one of the important technologies in the unmanned vehicle. It is consisted by two parts: the first part includes the longitudinal control system for the acceleration and deceleration and the second part is the lateral control system for the steering control. Each system uses to the obstacle avoidance during the vehicle moving. Therefore, we propose the method of vehicle control, modeling and obstacle avoidance. Second, we describe a method of lane tracking by means of vision system. It is important in the unmanned vehicle and mobile robot system. In this paper, we deal with lane tracking and image processing method and it is including lane detection method, image processing algorithm and filtering method.

• KSCE Journal of Civil and Environmental Engineering Research
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• v.26 no.3D
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• pp.367-374
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• 2006

This research revealed the operation problems of the current crossing control systems through inspecting and testing the obstacle detection systems and gate control systems for the crossings. To resolve the problems of the crossing control systems, this research developed new algorithms of four-quadrant gate system and obstacle detection systems combing the functions of rasar sensors and magnetic sensors and tested the reliability of the systems. Currently, the obstacle detection systems and gate control systems controls approaching and departing traffic by simply detecting vehicles and obstacles but do not consider traffic movements at the crossings. In addition, they do not make signal cooperation for gate controls. As a result, such inefficient crossing controls result in unsafe gate controls for drivers. Therefore, the newly developed crossing control systems through this study will provide more effective crossing control services with more strengthen information cooperation within control systems. Besides they will help to reduce train crashes at the crossings by gate control systems considering various driving behaviors.