• 제어로봇시스템학회:학술대회논문집
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• 1988.10a
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• pp.142-147
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• 1988

Free-path-type guidance system does not need a hardwired path in the environment so that it gives a mobile robot a flexible path. ln this study to achieve the free-path-type guidance system for a mobile robot which is steered by the differential steering of both drive forewheels, position recognition systems are constructed using odometer system as an internal position sensor. Two odometer systems, a auxiliary wheel odometer and a 2-encoder odometer system are constructed and path following algorithms using these odometer systems are designed and experimented. PID control type is adopted in the path following algorithms.

• Korean Journal of Cognitive Science
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• v.8 no.4
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• pp.11-18
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• 1997

야간 시각은 민감도를 극대화하고 주간 시각은 세감도를 극대화한다. 민감도와 세감도는 시각 기능의 두 목표이지만 상쇄적인 작용때문에 균형적인 선택이 요구된다. 민감도와 세감도를 결정하는 중요한 요인으로는 광학적인 요인과 신경학적인 요인이 있다. 망막의 지역적 분화는 바로 이러한 민감도-세감도 문제에서 기인하는데 망막의 2차원적인 제약이 시각신경계의 병행적인 경로와 이에 기초한 적응적 진화를 통해서 어느 정도 해소되는 듯이 보인다. 이 글은 야행-주행 습성을 동시에 갖추어 민감도와 세감도의 균형 문제가 각별히 부각되는 고양이의 초기 시각신경계에서 민감도와 세감도의 균형을 최적화하는 신경 기전을 소개한 것이다.

• Information and Communications Magazine
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• v.24 no.12
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• pp.74-77
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• 2007

경로안내와 제3의 인터넷 공간이라는 초기의 수동적인 서비스 개념으로부터 유비쿼터스 사회를 이루어나가는 요소기술로서의 텔레매틱스는 기술적 성숙기를 보내고 통과하며 점차 차세대 지능형 자동차 기술 및 지능형 교통정보시스템과 같은 차량 기술과 접목되면서 좀 더 안전하고 편리한 주행환경 내 정보화로 나아가고 있다. 이러한 방향에 발맞추어 현재 진행되고 있는 국내외 텔레매틱스 서비스 플랫폼 기술 및 표준화 현황을 소개하고 국내 산업체에서 향후 추진 전략 수립에 참고가 되도록 나아갈 방향을 제시하였다.

• Journal of the Korean Institute of Intelligent Systems
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• v.23 no.3
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• pp.202-207
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• 2013

In the paper, we design a autonomous mobile robot for freight transportation and propose an operation method of the robot in the warehouse. In order to implement autonomous navigation, it is needed to recognize the position of the robot and track the path to the target. Previous methods are hard to change the workspace environment and need high cost to install and keep a maintenance of the system. The lifter of freight transportation robot is designed to load and unload a baggage through up and down motion. Also, ultrasonic sensor, RFID, QR-code and camera sensor is used to carry out various functions while the robot navigates in the various environment. We design an operation method of the mobile robot in order to effectively arrive a goal position and transport a freight. The proposed methods are verified through various experiments.

• Journal of IKEEE
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• v.26 no.4
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• pp.602-613
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• 2022

This paper proposes an algorithm for correcting indirect situations resulting from the wheelchair moving the stairs with wheel-type caterpillar and seat position variable. For analyzing the Yawing movement model, the change of Yaw value was estimated using Roll, Pitch, and Yaw in the driving environment, and it was used as a control variable and the information of the wheel drive controller. The verification confirmed the correction of about 10° of Yawing movement within about 7 seconds. It was confirmed that the angular velocity was reduced by 47.5% in seat position change.

• Journal of the Korea Computer Graphics Society
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• v.30 no.3
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• pp.1-8
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• 2024

We present a novel algorithm for creating 2D maps tailored for autonomous navigation within orchards. Recognizing that fruit trees in orchards are typically aligned in rows, our primary goal is to accurately detect these tree rows and project this information onto the map. Initially, we propose a simple algorithm that recognizes trees from point cloud data by analyzing the spatial distribution of points. We then introduce a method for detecting fruit tree rows based on the positions of recognized fruit trees, which are integrated into the 2D orchard map. Validation of the proposed approach was conducted using real-world orchard point cloud data acquired via LiDAR. The results demonstrate high tree detection accuracy of 90% and precise tree row mapping, confirming the method's efficacy. Additionally, the generated maps facilitate the development of natural navigation paths that align with the orchard's layout.

• Journal of Game and Entertainment
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• v.2 no.1
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• pp.35-44
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• 2006

Objective of this study is to develop a 3D car navigation system that shows the driving direction to a destination through real-time 3-D panoramic views of the route. For the purpose, a new searching process was established to find the optimal driving direction based on the driver's current location and the real-time traffic situation and the TIP (tour into the picture) method was extended to implement a wide virtual environment. A virtual environment was built up by applying the extended TIP method to the panoramic images taken at a constant distance from a real road, and then, displayed 3-D navigation as clear as the real images. The car navigation system developed in this study provides the optimal driving direction and real-time traffic situation using 2-D navigation module and 3D navigation module.

• Journal of the Institute of Electronics Engineers of Korea CI
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• v.43 no.4 s.310
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• pp.67-72
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• 2006

A car became that is essential already, and enjoy convenient benefit still more according as car skill is developed in modern's life. But, threaded other additional systems to use a car little more conveniently and representative thing is Navigation. Current Navigation system is not escaping greatly in mechanical system that do only unilateral guidance. Wish to propose about intelligence style Navigation that foretell driver's inclination and guide correct route to him because this treatise takes advantage of fuzzy logic. Verify algorithm that propose oriented Navigation algorithm the future that do path guidance by user's inclination within extent that do not escape greatly in most important final cause fast path proposition of Navigation and is proposed through an experiment.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 2022.10a
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• pp.532-535
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• 2022

Path following algorithms have been intensively studied for various mobile platforms such as planetary exploration, unmanned delivery, and autonomous driving. However, ensuring high accuracy in practical applications is challenging due to enormous uncertainty inherent in real environment. In this paper, we aim to reveal the guideline for the design and implementation by investigating the path following performance of mobile robot controlled by the pure pursuit algorithm. To this end, we evaluate the accuracy of the pure pursuit algorithm when tuning the look ahead distance and deploying erroneous actuator.

• The Journal of The Korea Institute of Intelligent Transport Systems
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• v.15 no.6
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• pp.116-126
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• 2016

In this study, lane-wise traffic flow characteristics were analysed on uninterrupted flow using a new notion of "lane-wise travel speed reversal (LTSR)" which is defined as a phenomena that travel speed in the median lane is lower than other lanes. Mathematical formulation was also proposed to calculate the strength of LTSR. The experiment road site is Seoul Outer Ring Expressway (Jayuro-IC~Jangsoo-IC), and travel trajectories for each four lane were collected for weekdays (Mon. through Fri.) during morning peak. Comparing lane-wise travel speeds for entire test road section, no LTSR was observed, meaning that the travel speed in the median lane is the fastest, followed by 2nd, 3rd, and 4th lane as in order. Howerver, the result of microscopic analysis using 100-meter discrete road section based data shows that LTSR occurs many times. Especially the strength of LTSR is higher in congestion area and freeway merge and diverge segment. It is expected that these results could be used as a fundamental data when establishing lane-by-lane traffic operation strategy and developing lane-wise traffic information collection and dissemination technology.