• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.39 no.6
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• pp.535-542
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• 2011

The Global Navigation Satellite System(GNSS) is being utilized in numerous applications. The research for autonomous guided vehicles(AGVs) using precise positioning of GNSS is in progress. GNSS based AGVs is useful for setting driving path. This AGV system is more efficient than the previous one. Escipecially, the obstacle is positioned the driving path. Previcious AGVs which follow marker or wires laid out on the road have to stop the front of obstacle. But GNSS based AGVS can continuously drive using obstacle avoidance. In this paper, we developed collision avoidance system for GNSS based AGV using laser scanner and collision avoidance path setting algorithm. And we analyzed the developed system.

• Journal of Institute of Control, Robotics and Systems
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• v.16 no.5
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• pp.463-468
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• 2010

An obstacle avoidance method for a mobile robot is proposed in this paper. Our research was focused on the obstacles that can be found indoors since a robot is usually used within a building. It is necessary that the robot maintain the desired direction after successfully avoiding the obstacles to achieve a good autonomous navigation performance for the specified project mission. Sensors such as laser, ultrasound, and PSD (Position Sensitive Detector) can be used to detect and analyze the obstacles. A PSD sensor was used to detect and measure the height and width of the obstacles on the floor. The PSD sensor was carefully calibrated before measuring the obstacles to achieve better accuracy. Data obtained from the repeated experiments were used to plot an error graph which was fitted to a polynomial curve. The polynomial equation was used to navigate the robot. We also obtained a direction-error model of the robot after avoiding the obstacles. The prototypes for the obstacle and direction-error were modeled using a neural network whose inputs are the obstacle height, robot speed, direction of the wheels, and the error in direction. A mobile robot operated by a notebook computer was setup and the proposed algorithm was used to navigate the robot and avoid the obstacles. The results showed that our algorithm performed very well during the experiments.

• Journal of the Korean Society for Aviation and Aeronautics
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• v.30 no.3
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• pp.28-37
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• 2022

Obstacle Limitation Surface (OLS) is conceptual surface establishing the airspace around aerodromes to be maintained from obstacles to ensure safe aircraft operations. Despite advances in the technologies for aircraft, navigation systems and the development of new flight procedures, the criteria defining OLS have not been amended since its initial establishment, resulting in the overestimation of areas for height restriction. As there were requests to examine OLS at the 12th Air Navigation Conference and the 38th ICAO Assembly, the research on the OLS revision began in earnest and ICAO has proposed Obstacle Free Surface (OFS) and Obstacle Evaluation Surface (OES) as an alternative of the existing OLS. OFS is surfaces where obstacles shall not be permitted, and OES is ones where obstacles be evaluated with an aeronautical study and could be permitted under some conditions. The purpose of this study is to preemptively assess the efficiency and safety of OFS and OES by applying them to the second runway (15L/33R) of Incheon International Airport. The results show that OFS and OES are capable of serving the instrument flight procedure safely with a smaller obstacle clearance area compared to the existing OLS.

• Journal of the Korean Society of Surveying, Geodesy, Photogrammetry and Cartography
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• v.39 no.6
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• pp.599-607
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• 2021

Street-view images, which are omnidirectional scenes centered on a specific location on the road, can provide various obstacle information for the pedestrians. Pedestrian network data for the navigation services should reflect the up-to-date obstacle information to ensure the mobility of pedestrians, including people with disabilities. In this study, the object detection model was trained for the bollard as a major obstacle in Seoul using street-view images and a deep learning algorithm. Also, a process for updating information about the presence and number of bollards as obstacle properties for the crosswalk node through spatial matching between the detected bollards and the pedestrian nodes was proposed. The missing crosswalk information can also be updated concurrently by the proposed process. The proposed approach is appropriate for crowdsourcing data as the model trained using the street-view images can be applied to photos taken with a smartphone while walking. Through additional training with various obstacles captured in the street-view images, it is expected to enable efficient information update about obstacles on the road.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.50 no.11
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• pp.809-817
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• 2022

The development of unmanned robots and UAVs has increased the need for path planning methods such as RRT^* algorithm. It mostly works well in various environments and is utilized in many fields. A lot of research has been conducted to obtain a better path in terms of efficiency through various modifications to the RRT^* algorithm, and the performance of the algorithm is continuously improved thanks to these efforts. In this study, a method using the limitation of sampling range is proposed as an extension of these efforts. Based on the idea that a path passing close to obstacles is similar to the optimal path in obstacle environments, nodes are produced around the obstacle. Also, rewiring algorithm is modified to quickly obtain the path. The performance of the proposed algorithm is validated by comparative analysis of the previous basic algorithm and the generated path is tracked by a UAV's kinematic model for further verification.

• Journal of Institute of Control, Robotics and Systems
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• v.20 no.8
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• pp.868-874
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• 2014

This paper proposes a novel mapping algorithm in Omni-directional Vision SLAM based on an obstacle's feature extraction using Lucas-Kanade Optical Flow motion detection and images obtained through fish-eye lenses mounted on robots. Omni-directional image sensors have distortion problems because they use a fish-eye lens or mirror, but it is possible in real time image processing for mobile robots because it measured all information around the robot at one time. In previous Omni-Directional Vision SLAM research, feature points in corrected fisheye images were used but the proposed algorithm corrected only the feature point of the obstacle. We obtained faster processing than previous systems through this process. The core of the proposed algorithm may be summarized as follows: First, we capture instantaneous $360^{\circ}$ panoramic images around a robot through fish-eye lenses which are mounted in the bottom direction. Second, we remove the feature points of the floor surface using a histogram filter, and label the candidates of the obstacle extracted. Third, we estimate the location of obstacles based on motion vectors using LKOF. Finally, it estimates the robot position using an Extended Kalman Filter based on the obstacle position obtained by LKOF and creates a map. We will confirm the reliability of the mapping algorithm using motion estimation based on fisheye images through the comparison between maps obtained using the proposed algorithm and real maps.

• Journal of Biosystems Engineering
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• v.3 no.1
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• pp.1-19
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• 1978

Power tiller is a major unit of agricultural machinery being used on farms in Korea. About 180.000 units are introduced by 1977 and the demand for power tiller is continuously increasing as the farm mechanization progress. Major farming operations done by power tiller are the tillage, pumping, spraying, threshing, and hauling by exchanging the corresponding implements. In addition to their use on a relatively mild slope ground at present, it is also expected that many of power tillers could be operated on much inclined land to be developed by upland enlargement programmed. Therefore, research should be undertaken to solve many problems related to an effective untilization of power tillers on slope ground. The major objective of this study was to find out the travelling and tractive characteristics of power tillers being operated on general slope ground.In order to find out the critical travelling velocity and stability limit of slope ground for the side sliding and the dynamic side overturn of the tiller and tiller-trailer system, the mathematical model was developed based on a simplified physical model. The results analyzed through the model may be summarized as follows; (1) In case of no collision with an obstacle on ground, the equation of the dynamic side overturn developed was: $$\sum_n^{i=1}W_ia_s(cos\alpha cos\phi-{\frac {C_1V^2sin\phi}{gRcos\beta})-I_{AB}\frac {v^2}{Rr}}=0$$ In case of collision with an obstacle on ground, the equation was: $$\sum_n^{i=1}W_ia_s\{cos\alpha(1-sin\phi_1)-{\frac {C_1V^2sin\phi}{gRcos\beta}\}-\frac {1}{2}I_{TP} \( {\frac {2kV_2} {d_1+d_2}\)-I_{AB}{\frac{V^2}{Rr}} \( \frac {\pi}{2}-\frac {\pi}{180}\phi_2 \} = 0 $$ (2) As the angle of steering direction was increased, the critical travelling veloc\ulcornerities of side sliding and dynamic side overturn were decreased. (3) The critical travelling velocity was influenced by both the side slope angle .and the direct angle. In case of no collision with an obstacle, the critical velocity $V_c$ was 2.76-4.83m/sec at $\alpha=0^\circ$, $\beta=20^\circ$ ; and in case of collision with an obstacle, the critical velocity $V_{cc}$ was 1.39-1.5m/sec at $\alpha=0^\circ$, $\beta=20^\circ$ (4) In case of no collision with an obstacle, the dynamic side overturn was stimu\ulcornerlated by the carrying load but in case of collision with an obstacle, the danger of the dynamic side overturn was decreased by the carrying load. (5) When the system travels downward with the first set of high speed the limit {)f slope angle of side sliding was $\beta=5^\circ-10^\circ$ and when travels upward with the first set of high speed, the limit of angle of side sliding was $\beta=10^\circ-17.4^\circ$ (6) In case of running downward with the first set of high speed and collision with an obstacle, the limit of slope angle of the dynamic side overturn was = $12^\circ-17^\circ$ and in case of running upward with the first set of high speed and collision <>f upper wheels with an obstacle, the limit of slope angle of dynamic side overturn collision of upper wheels against an obstacle was $\beta=22^\circ-33^\circ$ at $\alpha=0^\circ -17.4^\circ$, respectively. (7) In case of running up and downward with the first set of high speed and no collision with an obstacle, the limit of slope angle of dynamic side overturn was $\beta=30^\circ-35^\circ$ (8) When the power tiller without implement attached travels up and down on the general slope ground with first set of high speed, the limit of slope angle of dynamic side overturn was $\beta=32^\circ-39^\circ$ in case of no collision with an obstacle, and $\beta=11^\circ-22^\circ$ in case of collision with an obstacle, respectively.

• International Journal of Aeronautical and Space Sciences
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• v.6 no.2
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• pp.97-109
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• 2005

In this paper, the critical requirement for obstacle awareness and avoidance is assessed with the compliance of the equivalent level of safety regulation, and then the collision avoidance sensor system is presented with the key design parameters for the requirement of the smart unmanned aerial vehicle in low-altitude flight. Based on the assessment of various sensors, small-sized radar sensor is selected for the suitable candidate due to the real-time range and range-rate acquisition capability of the stationary and moving aircraft even under all-weather environments. Through the performance analysis for the system requirement, the conceptual design result of radar sensor model is proposed with the range detection probability and collision avoidance mode is established based on the time-to-collision, which is analyzed by collision scenario.

• Asia-pacific Journal of Multimedia Services Convergent with Art, Humanities, and Sociology
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• v.8 no.3
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• pp.945-953
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• 2018

In this paper, we use 3-D LIDAR for obstacle detection and avoidance maneuver for autonomous unmanned operation. It is aimed to avoid obstacle avoidance in unmanned water under marine condition using only single sensor. 3D lidar uses Quanergy's M8 sensor to collect surrounding obstacle data and includes layer information and intensity information in obstacle information. The collected data is converted into a three-dimensional Cartesian coordinate system, which is then mapped to a two-dimensional coordinate system. The data including the obstacle information converted into the two-dimensional coordinate system includes noise data on the water surface. So, basically, the noise data generated regularly is defined by defining a hypothetical region of interest based on the assumption of unmanned water. The noise data generated thereafter are set to a threshold value in the histogram data calculated by the Vector Field Histogram, And the noise data is removed in proportion to the amount of noise. Using the removed data, the relative object was searched according to the unmanned averaging motion, and the density map of the data was made while keeping one cell on the virtual grid map. A polar histogram was generated for the generated obstacle map, and the avoidance direction was selected using the boundary value.

• Journal of Navigation and Port Research
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• v.37 no.5
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• pp.463-469
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• 2013

This paper focuses on GPS positioning accuracy variations according to locations of obstacles which surround GPS station. We derived precise coordinates of a GPS station which has a good visibility. Its observation data was rewritten by assuming signal blocking due to obstacle in the elevation angle of $10^{\circ}$ to $70^{\circ}$. We processed daily and hourly data for 10 days. In the results using daily data, RMSE was at 10mm level. And RMSE increased to 100mm levels in case of hourly data. As the elevation angle of obstacle increased, the horizontal and vertical RMSE increased, while the height estimates decreased. These results showed the higher the elevation angle of the obstacle increased the loss of large amounts of data by blocking satellite signals direction. In terms of the direction, when the blocking thing was located in the east or west, the coordinate has larger error in the east-west direction. And if signal was blocked at the south direction, the difference between the east-west error and the south-north position error was reduced.