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

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Introduction to Autonomous Vehicle PHAROS

자율주행자동차 PHAROS

  • Ryu, Jee-Hwan (School of Mechanical Engineering, Korea University of Technology and Education) ;
  • Park, Jang-Sik (School of Mechanical Engineering, Korea University of Technology and Education) ;
  • Ogay, Dmitriy (School of Mechanical Engineering, Korea University of Technology and Education) ;
  • Bulavintsev, Segey (School of Mechanical Engineering, Korea University of Technology and Education) ;
  • Kim, Hyuk (School of Mechanical Engineering, Korea University of Technology and Education) ;
  • Song, Young-wook (School of Mechanical Engineering, Korea University of Technology and Education) ;
  • Yoon, Moon-Young (School of Mechanical Engineering, Korea University of Technology and Education) ;
  • Kim, Jea-Seok (School of Mechanical Engineering, Korea University of Technology and Education) ;
  • Kang, Jeon-Jin (School of Mechanical Engineering, Korea University of Technology and Education)
  • 유지환 (한국기술교육대학교 기계정보공학부) ;
  • 박장식 (한국기술교육대학교) ;
  • ;
  • ;
  • 김혁 (한국기술교육대학교 기계공학부) ;
  • 송영욱 (한국기술교육대학교 기계공학부) ;
  • 윤문영 (한국기술교육대학교 기계공학부) ;
  • 김재석 (한국기술교육대학교 기계공학부) ;
  • 강전진 (한국기술교육대학교 기계공학부)
  • Received : 2011.12.05
  • Accepted : 2012.06.27
  • Published : 2012.08.01
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Abstract

This paper introduces the autonomous vehicle Pharos, which participated in the 2010 Autonomous Vehicle Competition organized by Hyundai-Kia motors. PHAROS was developed for high-speed on/off-road unmanned driving avoiding diverse patterns of obstacles. For the high speed traveling up to 60 km/h, long range terrain perception, real-time path planning and high speed vehicle motion control algorithms are developed. This paper describes the major hardware and software components of our vehicle.

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References

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