• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2003년도 ICCAS
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• pp.408-412
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• 2003

Obstacle avoidance algorithm is very important on an unmanned vehicle. Therefore, in this research, we propose a algorithm of obstacle avoidance and we can prove through vehicle test and sensor experiments. Obstacle avoidance must be divided into two parts: the first part includes the longitudinal control for acceleration and deceleration and the second part is the lateral control for steering control. Each system is used for unmanned vehicle control, which notes its location, recognizes obstacles surrounding it, and makes a decision how fast to proceed according to circumstances. During the operation, the control strategy of the vehicle can detect obstacles and perform obstacle avoidance on the road, which involves vehicle velocity. In this paper, we propose a method for vehicle control, modeling, and obstacle avoidance, which are confirmed through vehicle tests.

• 제어로봇시스템학회논문지
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• 제21권12호
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• pp.1089-1099
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• 2015

This paper proposes vision-based collision risk estimation method for an unmanned surface vehicle. A robust image-processing algorithm is suggested to detect target obstacles from the vision sensor. Vision-based Target Motion Analysis (TMA) was performed to transform visual information to target motion information. In vision-based TMA, a camera model and optical flow are adopted. Collision risk was calculated by using a fuzzy estimator that uses target motion information and vision information as input variables. To validate the suggested collision risk estimation method, an unmanned surface vehicle experiment was performed.

• International Journal of Automotive Technology
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• 제4권4호
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• pp.173-180
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• 2003

Obstacle avoidance is considered as one of the key technologies in an unmanned vehicle system. In this paper, we propose a method of obstacle avoidance, which can be expressed as vehicle control, modeling, and sensor experiments. Obstacle avoidance consists of two parts: one longitudinal control system for acceleration; and deceleration and a lateral control system for steering control. Each system is used for unmanned vehicle control, which notes its location, recognizes obstacles surrounding it, and makes a decision how fast to proceed according to circumstances. During the operation, the control strategy of the vehicle can detect obstacles and perform obstacle avoidance on the road, which involves vehicle velocity. The method proposed for vehicle control, modeling, and obstacle avoidance has been confirmed through vehicle tests.

• 제어로봇시스템학회논문지
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• 제14권8호
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• pp.809-817
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• 2008

This paper describes an obstacle detecting system of an unmanned ground vehicle (UGV). The unmanned ground vehicle is consists of several systems such as vehicle control system, navigation system, obstacle detecting system and integration system. Among these systems, the obstacle detecting system is a driving assistance system of UGV. Through the UGV is driving, the system detects obstacles such as cars, human, tree, curb and hills and then send information of obstacles position to integration system for safety driving. In this research, the obstacle detecting system is composed of 5 laser scanners and develop algorithms of detecting obstacles, curb, uphill and downhill road.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2001년도 ICCAS
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• pp.170.4-170
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• 2001

Safety and confidence of the communications network is the main purpose for the unmanned control systems, in terms of appling a satellite communications network to the water treatment and supply plant communication system. Since the unmanned control systems were applied in the industrial site, the lack of confidence on the communications network has been presented continuously as a main problem for the unmanned and automation systems. Therefore, satellite communications network was presented as one of the methods to solve this problem, supporting the wire used telecommunication. In addition to the safety of a communications network, there is the retrenchment of expenditure. This dual communications network has ...

• 한국공작기계학회논문집
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• 제11권1호
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• pp.70-76
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• 2002

Unmanned vehicles have to decide their velocities suitable for the paths which should be generated by the vehicles themselves, based on the kinematic and dynamic aspects of vehicles. For this purpose, this paper is to propose a mathematical modeling of tuning trace for the cornering of an unmanned vehicle by using normal-tangent coordinates as well as extracting the characteristics of behavior for car drivers in cornering. In the proposed modeling, the limitations of velocity can be determined based on the knowledge that the handling of drivers means the control of radius of curvature. The proposed modeling can reduce computational load and generate turning angles and velocities suitable for the cornering of unmanned vehicles.

• 제어로봇시스템학회논문지
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• 제21권10호
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• pp.930-935
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• 2015

An unmanned forklift requires precise positioning and pallet detection. Therefore, conventional unmanned forklifts use high-cost sensors to find the exact position of the pallet. In this study, a docking algorithm with two cameras is proposed. The proposed method uses vision data to extract the angle difference between the pallet and the forklift. Then the control law is derived from the extracted angle for successful docking. The extracted angle is compared with the actual angle in the real environment. The control law is tested with the Lyapunov stability test and Routh-Hurwitz stability criterion. Through various experiments, the proposed docking algorithm showed the success rate high enough for real-life applications.

• 제어로봇시스템학회논문지
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• 제13권9호
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• pp.875-882
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• 2007

In order for a vehicle to follow a predetermined trajectory accurately, its position must be estimated accurately and reliably. In this thesis, we propose trajectory tracking control methods for unmanned vehicle and a positioning system using ultrasonic wave. The positioning problem is an important part of control problem for unmanned navigation of a vehicle. Dead Reckoning is widely used for positioning of vehicle. However this method has problems because it accumulates estimation errors. We propose a new method to increase the accuracy of position estimation using the Ultrasonic Satellite System (USAT). It is shown that we will be able to estimate the position of vehicle precisely, in which errors are not accumulated. And proposed trajectory tracking control methods include both a new path planning method and a lateral control method for vehicle. The experimental results show that the proposed methods enables exact vehicle trajectory tracking even under various environmental factors.

• International Journal of Control, Automation, and Systems
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• 제2권2호
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• pp.156-164
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• 2004

The unmanned tandem helicopter, which is a MIMO nonlinear system with complexity and inherent instability, exists in unstable zero dynamics. In this paper, approximate linearization is presented to design the controller for output tracking of an unmanned tandem helicopter based on the dynamic augment method, and the simulation results are encouraging.

• 제어로봇시스템학회논문지
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• 제15권1호
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• pp.54-60
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• 2009

In this paper, a precision landing approach is implemented based on real-time image processing. A full-scale landmark for automatic landing is used. canny edge detection method is applied to identify the outside quadrilateral while circular hough transform is used for the recognition of inside circle. Position information on the ground landmark is uplinked to the unmanned helicopter via ground control computer in real time so that the unmanned helicopter control the air vehicle for accurate landing approach. Ground test and a couple of flight tests for autonomous landing approach show that the image processing and automatic landing operation system have good performance for the landing approach phase at the altitude of $20m{\sim}1m$ above ground level.