• 한국항행학회논문지
• /
• 제8권1호
• /
• pp.19-26
• /
• 2004

본 논문은 군에서 운용중인 대공포 사격 훈련용으로 개발한 무인 표적기용 자동비행시스템 개발에 관한 논문이다. 조종사에 의해 수동으로 운용중인 표적기를 자동화함으로써 조종사 측면에서는 비행업무를 경감시키고, 군 측면에서는 사격훈련 예산절감이라는 장점을 가지게 된다. 현재까지 개발된 대부분의 UAV(Unmanned Aerial Vehicle)는 항공기 자세를 측정하기 위해 AHRS(Attitude & Heading Reference System)와 IMU(Inertial Measurement Unit)등의 고가의 센서를 장착하고 있지만 이를 장착하고 무인기를 사격훈련용으로 사용하기에는 예산절감이라는 목적에 적합하지 않다. 이에 본 논문은 저가의 센서를 장착하고 자동비행이 가능하도록 저가형 자동비행시스템을 개발하였으며, 자동비행 컴퓨터를 포함한 센서, 전원모듈, 스위칭 모듈, 모니터링 모듈, RC 수신기를 하나의 모듈로 단일화하여 통합형 자동비행시스템을 개발하였다. 또한 비행시험을 통하여 자동비행시스템 성능을 입증하였다.

• 전기학회논문지
• /
• 제57권11호
• /
• pp.2074-2079
• /
• 2008

This paper presents a software toolbox with $Matlab^{(R)}$ developed for the various performance analysis of an automatic guidance system of the Bimodal Tram. The Bimodal Tram is a new kind of transportation vehicle which could be an all-wheel steered multiple-articulated vehicle. This vehicle has to be equipped with an automatic guidance, traction/braking, and docking system, In the stage of developing such a system, its validities and performances should be verified under various operation conditions. For the purpose of doing these things through simulation, this toolbox has been developed and demonstrated well by applying it to the KRRI model.

• 제어로봇시스템학회:학술대회논문집
• /
• 제어로봇시스템학회 2001년도 ICCAS
• /
• pp.160.3-160
• /
• 2001

The objective of this research is to monitor and control the vehicle motion in order to remove out the existing safety risk based upon the human-machine cooperative vehicle control. A new control method is proposed to control the steering wheel of the vehicle to keep the lane. Desired angle of the steering wheel to control the vehicle motion could be calculated based upon vehicle dynamics, current and estimated pose of the vehicle every sample steps. The vehicle pose and the road curvature were calculated by geometrically fusing sensor data from camera image, tachometer and steering wheel encoder though the Perception Net, where not only the state variables, but also the corresponding uncertainties were propagated in ...

• 한국정보전자통신기술학회논문지
• /
• 제10권2호
• /
• pp.133-140
• /
• 2017

본 논문은 컴퓨터 비전 기술을 기반으로 자동 차량 감시 시스템을 제안하였다. 실시간 주행표시 시스템은 ITS의 필수 요건을 충족하면서, 자동 감시제어가 가능한 시스템이다. 이러한 장점은 확실한 자동차 추적에 대해 주요 장애물 처리 시스템 적용할 경우, 움직이는 물체에 대한 그림자 추적이다. 추적 차량 이미지에서 모든 종류의 정보를 획득하기 위해 차량을 확실하게 감시 화면에 나타나게 하였다. 시간이 지남에 따라 차량을 정밀 추적 제어 할 필요가 있고, 입체 모델 기반접근 방식 또한 필요한 방식으로 적용하였다. 일반적으로 개체 또는 와이어 프레임 모델의 골격에 의해 차량의 각각의 유형을 나타내었고, 시스템이 실시간 실행되지 않더라도 차량 궤적은 3D기반 방식에서 높은 정밀도로 측정 될 수 있다는 점을 보여 준다. 본 논문에서는 차량, 배경, 그림자에 적용 가능하고, 도로 교통 감시의 시스템을 분할 방법을 역시 적용하였다. 과속 자동차의 속도 추적을 통해 낮은 레벨의 차량제어 추적기의 유효성 역시 실행 하였다. 결론에서 개발된 추적 제어 시스템에서 향상된 자동차 추적의 방법을 개선하고자 하였으며 고속도로 감시제어 시스템을 개발하고자 하였다.

• 한국철도학회:학술대회논문집
• /
• 한국철도학회 2004년도 춘계학술대회 논문집
• /
• pp.696-701
• /
• 2004

Electric vehicle that is manufactured present by development of electric vehicle technology were available automatic driving. Control of air breaking system for precision stopping is important at automatic driving. Current Electric vehicle is doing precision stopping using braking force control. Braking force control is difficult to take static deceleration by rail condition or change of friction coefficient. Therefore, Proposed the controller in this study is deceleration controller. Designed controller is a robust controller that take state control characteristic for modelling error.

• International Journal of Fuzzy Logic and Intelligent Systems
• /
• 제13권4호
• /
• pp.307-314
• /
• 2013

We designed and implemented a fork-type automatic guided vehicle (AGV) with a laser guidance system. Most previous AGVs have used two types of guidance systems: magnetgyro and wire guidance. However, these guidance systems have high costs, are difficult to maintain with changes in the operating environment, and can drive only a pre-determined path with installed sensors. A laser guidance system was developed for addressing these issues, but limitations including slow response time and low accuracy remain. We present a laser guidance system and control system for AGVs with laser navigation. For analyzing the performance of the proposed system, we designed and built a fork-type AGV, and performed repetitions of our experiments under the same working conditions. The results show an average positioning error of 51.76 mm between the simulated driving path and the driving path of the actual fork-type AGV. Consequently, we verified that the proposed method is effective and suitable for use in actual AGVs.

• 한국자동차공학회논문집
• /
• 제13권4호
• /
• pp.19-25
• /
• 2005

This paper presents a lateral control system for the autonomous navigation vehicle that was developed and tested by Robotics Centre of Ecole des Mines do Paris in France. A robust lane detection algorithm was developed for detecting different types of lane marker in the images taken by a CCD camera mounted on the vehicle. $^{RT}Maps$ that is a software framework far developing vision and data fusion applications, especially in a car was used for implementing lane detection and lateral control. The lateral control has been tested on the urban road in Paris and the demonstration has been shown to the public during IEEE Intelligent Vehicle Symposium 2002. Over 100 people experienced the automatic lateral control. The demo vehicle could run at a speed of 130km1h in the straight road and 50km/h in high curvature road stably.

• International Journal of Automotive Technology
• /
• 제5권2호
• /
• pp.89-94
• /
• 2004

In this paper, a safe control strategy is considered in the situation when a platoon of vehicles need to decelerate rapidly. When the vehicles ate spaced closely, it is known that the reference information should be transmitted to the whole platoon to minimize the undesirable effects of small leader disturbances. However, the vehicle control should also depend on the preceding vehicle position to maintain the desired distance. Tracking the preceding vehicle position can lead to amplification of the control input along the following vehicles, therefore the vehicles in the rearward generally exert larger maximum control input than the vehicles in the front. The theoretical bounds for the $i^{th}$ vehicle control input are calculated using a linear vehicle and controller model. In the simple illustrative example, the designed controller maintains string stability, and the control inputs of the following vehicles stay within bounds.

• 대한임베디드공학회논문지
• /
• 제8권2호
• /
• pp.69-78
• /
• 2013

As vehicles become more intelligent for safety and convenience of drivers, in-vehicle networking systems such as controller are network (CAN) have been widely used due to increasing number of electronic control unit (ECU). Recently, FlexRay was developed to replace CAN protocol in chassis networking systems, to remedy the shortage of transmission capacity and unsatisfactory real-time transmission delay of conventional CAN. However, it is difficult for vehicle network designers to calculate platform configuration registers (PCR) and determine a base cycle or slot length of FlexRay. To assist vehicle network designers for designing FlexRay cluster, this paper presents automatic field bus exchange format (FIBEX) generation algorithm from CANdb information, which is de-facto standard database format for CAN. To design this program, structures of FIBEX, CANdb and relationship among PCR variables are analyzed.

• 제어로봇시스템학회논문지
• /
• 제14권12호
• /
• pp.1253-1259
• /
• 2008

This paper presents a landing controller and guidance law for net-recovery of fixed-wing unmanned aerial vehicles. A linear quadratic controller was designed using the system identification result of the unmanned aerial vehicle. A pursuit guidance law is applied to guide the vehicle to a recovery net with imaginary landing points on the desired approach path. The landing performance of a pure pursuit guidance, a constant pseudo pursuit guidance, and a variable pseudo pursuit guidance is compared. Numerical simulation using an unmanned aerial vehicle model was performed to verify the performance of the proposed landing guidance law.