제어로봇시스템학회논문지 (Journal of Institute of Control, Robotics and Systems)

  • 제15권1호
  • /
  • Pages.89-93
  • /
  • 2009
  • /
  • 1976-5622(pISSN)
  • /
  • 2233-4335(eISSN)
제어로봇시스템학회 (Institute of Control, Robotics and Systems)
권호 표지
DOI QR코드

DOI QR Code

스테레오 기반의 장애물 회피 알고리듬

Obstacle Avoidance Algorithm using Stereo

  • 김세선 (서울산업대학교 자동차공학과) ;
  • 김현수 (서울산업대학교 자동차공학과) ;
  • 하종은 (서울산업대학교 자동차공학과)
  • 발행 : 2009.01.01
PDF 다운로드
⟨ 이전 논문 다음 논문 ⟩

초록

This paper deals with obstacle avoidance for unmanned vehicle using stereo system. The "DARPA Grand Challenge 2005" shows that the robot can move autonomously under given waypoint. RADAR, IMS (Inertial Measurement System), GPS, camera are used for autonomous navigation. In this paper, we focus on stereo system for autonomous navigation. Our approach is based on Singh et. al. [5]'s approach that is successfully used in an unmanned vehicle and a planetary robot. We propose an improved algorithm for obstacle avoidance by modifying the cost function of Singh et. al. [5]. Proposed algorithm gives more sharp contrast in choosing local path for obstacle avoidance and it is verified in experimental results.

키워드

참고문헌

  1. http://www.darpagrandchallenge.com/
  2. S. Thnm et. aI., "Stanley : The Robot That Won The DARPA Grand Challenge," Journal of Field Robotics, 2006
  3. http://www.cybemet.com/urbancha11enge/
  4. http://www.tartanracing.orgi
  5. S. Singh et. aI., "Recent Progress in Local and GlobalTraversability for Planetary Rovers," IEEE InternationalConference on Robotics andAutomation, pp. 1194-1200,2000
  6. R C. Arkin, "Motor Schema Based Navigation for a Mobile Robot: An Approach to Programming by Behavior,"International Conference on Robotics and Automation, 1987
  7. M. H. Herbert, " SMARTY: Point-Based Range Processing for Autonomous Driving," Intelligent Unmanned Ground Vehicle, Kluwer Academic Publishers, 1997
  8. L. Matthies, E. Gat, R. Harrison, B. Wilcox, R. Volpe, and T.Litwin, "Mars Microrover Navigation: Perfonnance Evaluation and Enhancement," Autonomous Robots, vol. 2, pp. 291-311,1995
  9. A. Kelly, "An Intelligent Predictive Control Approach to the High Speed Cross COlmtry Autonomous Navigation Problem,"Ph.D Thesis, Carnegie Mellon University, 1995
  10. H. Sraji, "Traversability Index: A new concept for planetary rovers," IEEE Internationo.l Coriference on Robotics and Automation, 1999
  11. J D. Gerll1ery, "Traversability Analysis and Path Planning for a Planetary Rover," Autonomous Robots, 1999
  12. http://opencvlibnuy.sourceforge.netl
  13. L. Matthies et. aI., "Computer Vision on Mars," Internationo.l Journalo/Computer Vision, vol. 75, no. 1, pp. 67-92, 2007
  14. J M. Maimone, Y. Cheng, and L. Matthies, "Two Years of Visual Odometry on the Mars Exploration Rovers," Journal 0/ Field Robotics, 2007