• Journal of the Korean Institute of Intelligent Systems
• /
• v.26 no.2
• /
• pp.105-112
• /
• 2016

This paper presents the experimental setup for autonomous navigation of a robotic vehicle for touring university campus. The robotic vehicle is developed for navigation of specific areas such as university campus or play parks. The robotic vehicle can carry two passengers to travel short distances. For the robotic vehicle to navigate autonomously the specific distance from the main gate to the administrative building in the university, the experimental setup for SLAM is presented. As an initial step, a simple method of following the line detected by a single camera is implemented for the partial area. The central line on the pavement colored with two kinds, red and yellow, is detected by image processing, and the robotic vehicle is commanded to follow the line. Experimental studies are conducted to demonstrate the performance of navigation as a possible touring vehicle.

• Journal of the Korean Society for Precision Engineering
• /
• v.12 no.1
• /
• pp.58-67
• /
• 1995

A path planning algorithm using a laser range finder are presented for real-tiem navigation of an autonomous guided vehicle. Considering that the laser range finder has the excellent resolution with respect to angular and distance measurements, a sophisticated local path planning algorithm is achieved by using the human's heuristic method. In the case of which the man knows not rhe path, but the goal direction, the man forwards to the goal direction, avoids obstacle if it appears, and selects the best pathway when there are multi-passable ways between objects. These heuristic principles are applied to the path decision of autonomous guided vehicle such as forward open, side open and no way. Also, the effectiveness of the established path planning algorithm is estimated by computer simulation in complex environment.

• Journal of Ocean Engineering and Technology
• /
• v.17 no.4
• /
• pp.73-80
• /
• 2003

This paper presents considerations on the results of the rotating arm test, which was carried out for assessment of an hybrid navigation system for a semi-autonomous underwater vehicle. The navigation system consists of an inertial measurement unit(IMU), an ultra-short baseline(USBL) acoustic navigation sensor and a doppler velocity log(DVL) accompanying a magnetic compass. A navigational systemmodel is derived to include the scale effect and bias errors of the DVL, of which the state equation composed of the navigation states and sensor parameters are 25 in the order. The extended Kalman filter was used to propagate the error covariance, The rotating arm tests were carried out in the Ocean Engineering Basin of KRISO, to generate circular motion. The hybrid underwater navigation system shows good tracking performance against the circular planar motion. Additionally this paper checked the effects of the sampling ratio of the navigation system and the possibility of the dead reckoning with the DVL and the magnetic compass to estimate the position of the vehicle.

• Journal of Advanced Navigation Technology
• /
• v.11 no.4
• /
• pp.378-387
• /
• 2007

In this paper, Authors develop and verify the algorithm for enhancing the performance of Unmanned vehicle's Autonomous navigation, and also propose the method of establishing much more precise Navigation locus. Unmanned vehicle has a destination, however orientation is not notified, which make it find the future orientation itself. Extended Kalman Filter make it access to the desirable direction, which coupled with INS and GPS is proposed in this paper. Sliding mode control could overcome the side slip and lateral minor movement of the vehicle. The test result would shows the effectiveness of Extended kalman filter and Slide mode control for the navigation.

• Proceedings of the Korean Society of Precision Engineering Conference
• /
• 2007.06a
• /
• pp.395-396
• /
• 2007

• Journal of the Korean Institute of Intelligent Systems
• /
• v.14 no.2
• /
• pp.239-246
• /
• 2004

In this paper, we develop and implement a high integrity GNC(Guidance, Navigation, and Control) system, based on the combined use of the Global Positioning System (GPS) and an Inertial Measurement Unit (IMU), for autonomous land vehicle applications. This paper highlights guidance for the predetermined trajectory and navigation with detection of possible faults during the fusion process in order to enhance the integrity of the navigation loop. The implementation of the GNC system to the autonomous land vehicle presented with fault detection methodology considers high frequency faults from the GPS receiver caused by shadowing and multipath error The implementation, based on a low-cost, strapdown INS aided by standard GPS technology, is described. The results of the field test in the urban environment are presented and showed effectiveness of the GNC system.

• Journal of the Korean Society for Precision Engineering
• /
• v.15 no.1
• /
• pp.101-108
• /
• 1998

This paper concerns the navigation algorithm of motion reference unit (MRU) for autonomous underwater vehicle (AUV) We apply the strapdown navigation system using middle level inertial sensors. But, because the MRU consists of inertial sensors, the values of AUV motion calculated by navigation computer are increased by drift property of inertial sensors. Therefore, we propose the attitude algorithm using switching method according to the motion of AUV From this algorithm, the drift terms are eliminated effectively for roll and pitch. But, another device is required for yaw angle.

• Journal of Positioning, Navigation, and Timing
• /
• v.12 no.1
• /
• pp.67-73
• /
• 2023

As interest in underwater structures and ocean exploration increases, many researchers are proposing methods for modeling and controlling various remotely operated vehicles (ROVs). Recently, hybrid systems composed of an autonomous underwater vehicle and an ROV capable of remote control and autonomous navigation are being developed. In this study we introduce a method that models Ariari-aROV, an ROV consisting of five thrusters, and performs navigation. The proposed ROV can be controlled manually and by autonomous navigation when given a target point. An extended Kalman filter is utilized for sensor measurement correction for more precise navigation. The proposed method is verified through a simulation.

• Proceedings of the Korean Institute of Navigation and Port Research Conference
• /
• 2022.11a
• /
• pp.357-359
• /
• 2022

Autonomous decision-making is key to safe and efficient marine autonomy, as global marine industry comprises over 90 percent of the world's cargo transportation. Challenges of the real-world validation in the aquatic domain limits the wide-spread of ASVs despite their promising societal impacts. We propose and demonstrate the real-world validation platform and comprehensive algorithm steps. Such a framework will serve as a more explainable and reliable decision-making system of ASVs as well as autonomous vehicles in other domains.

• Journal of Advanced Navigation Technology
• /
• v.11 no.2
• /
• pp.146-153
• /
• 2007

Autonomous unmanned vehicle is able to find the path and the way point by itself. For the more precise navigation performance, Extended kalman filter, which is integrated with inertial navigation system and global positioning system is proposed in this paper. Extended kalman filter's performance is evaluated by the simulation and applied to the unmanned vehicle. The test result shows the effectiveness of extended kalman filter for the navigation.