Transactions of the Korean Society of Mechanical Engineers A (대한기계학회논문집A)

The Korean Society of Mechanical Engineers (대한기계학회)
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Test of Vision Stabilizer for Unmanned Vehicle Using Virtual Environment and 6 Axis Motion Simulator

가상 환경 및 6축 모션 시뮬레이터를 이용한 무인차량 영상 안정화 장치 시험

  • Kim, Sunwoo (Dept. of Mechanical Design Mechatronics Engineering, Chungnam Nat'l Univ.) ;
  • Ki, Sun-Ock (Dept. of Mechatronics Engineering, Chungnam Nat'l Univ.) ;
  • Kim, Sung-Soo (Dept. of Mechatronics Engineering, Chungnam Nat'l Univ.)
  • 김선우 (충남대학교 기계설계 메카트로닉스공학과) ;
  • 기선옥 (충남대학교 메카트로닉스 공학과) ;
  • 김성수 (충남대학교 메카트로닉스 공학과)
  • Received : 2014.07.06
  • Accepted : 2014.12.02
  • Published : 2015.02.01
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Abstract

In this study, an indoor test environment was developed for studying the vision stabilizer of an unmanned vehicle, using a virtual environment and a 6-axis motion simulator. The real driving environment was replaced by a virtual environment based on the Aberdeen Proving Ground bump test course for military tank testing. The vehicle motion was reproduced by a 6-axis motion simulator. Virtual reality driving courses were displayed in front of the vision stabilizer, which was located on the top of the motion simulator. The performance of the stabilizer was investigated by checking the image of the camera, and the pitch and roll angles of the stabilizer captured by the IMU sensor of the camera.

본 논문에서는 가상현실 및 모션 시뮬레이터를 이용하여 무인차량용 영상 안정화 장치의 실내 시험환경을 구축하였다. 실제 주행 환경은 군용 탱크 시험을 위한 애버딘 시험장 범프 주행로의 가상 환경으로 대체하였다. 또한 무인 차량 모션은 모션 시뮬레이터를 이용하여 구현하였다. 가상 주행 환경은 모션 시뮬레이터 위에 설치된 영상안정화 장치의 앞에 구현하였다. 영상 안정화 장치의 카메라의 영상 및 카메라에 부착된 IMU 센서 데이터를 통해 안정화 성능을 확인하였다.

Keywords

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