• Journal of the Korea Society of Computer and Information
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• v.24 no.11
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• pp.29-39
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• 2019

As mobile robot applications increase in real life, the need of low cost autonomous driving are gradually increasing. We propose a novel vision-based real-time lane detection and tracking system that supports autonomous driving of mobile robots in constrained tracks which are designed considering indoor driving conditions of mobile robots. Considering the processing of lanes with various shapes and the pre-adjustment of operation parameters, the system structure with multi-operation modes are designed. In parameter tuning mode, thresholds of the color filter is dynamically adjusted based on the geometric property of the lane thickness. And in the unstable input mode of curved tracks and the stable input mode of straight tracks, lane feature pixels are adaptively extracted based on the geometric and temporal characteristics of the lanes and the lane model is fitted using the least-squared method. The track centerline is calculated using lane models and the motion model is simplified and tracked by a linear Kalman filter. In the driving experiments, it was confirmed that even in low-performance robot configurations, real-time processing produces the accurate autonomous driving in the constrained track.

• The Journal of The Korea Institute of Intelligent Transport Systems
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• v.22 no.1
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• pp.208-218
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• 2023

Research on autonomous vehicles is being actively conducted, and the effort to commercialize them is underway in several countries. In Korea, platform construction projects are being carried out under the supervision of the Ministry of Land, Infrastructure, and Transport to achieve autonomous cooperative driving. To enable a flawless infrastructure, there is a requirement to build a safe security agency responsible for the secure operations of the entire process. However, there is no traffic ISAC in Korea that performs these roles. This paper analyzes related bills and acts of the other domestic security institutions currently in operation. Based on these results, we suggest appropriate directions to modify the current laws related to the C-ITS system. Finally, we propose a suitable plan to establish and operate a C-ITS ISAC.

• The Journal of the Korea institute of electronic communication sciences
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• v.18 no.5
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• pp.981-988
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• 2023

As the usage of unmanned aerial vehicles expands, the development and the demand of related technologies are increasing. As the frequency of operation increases and the convenience of operation is emphasized, the importance of related autonomous flight technology is also highlighted. Establishing a path plan to reach the destination in autonomous flight of an unmanned aerial vehicle is important in guidance and control, and a technology for automatically generating path plan is required in order to maximize the effect of unmanned aerial vehicle. In this study, the optimization research of path planning using rapid-exploring random tree method was performed for increasing the effectiveness of autonomous operation. The path planning optimization method considering the characteristics of the unmanned aerial vehicle is proposed. In order to achieve indexes such as optimal distance, shortest time, and passage of mission points, the path planning was optimized in consideration of the mission goals and dynamic characteristics of the unmanned aerial vehicle. The proposed methods confirmed their applicability to the generation of path planning for unmanned aerial vehicles through performance verification for obstacle situations.

• Proceedings of the KIEE Conference
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• 2004.11c
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• pp.529-531
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• 2004

For localization, it is very important for an autonomous mobile robot to be able to recognize indoor environment and match an object it detect to an object within a map developed either online or offline. Given the map defining the locations of geometric beacons like wall and comer existing in the robot operation environment, this paper presents a stereo ultrasonic sensor based method that can be conveniently used in recognizing the geometric beacons. The stereo ultrasonic sensor used in the experiment consists of an ultrasonic transmitter and two ultrasonic receivers placed symmetrically about the transmitter. Experiment shows that the proposed method is more efficient in recognizing wall and coner than the conventional method of using multiple number of transmitter-receiver pairs.

• Journal of Korea Society of Digital Industry and Information Management
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• v.5 no.3
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• pp.39-45
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• 2009

In this paper we present a cleaning robot system for an autonomous mobile robot. Our robot performs goal reaching tasks into unknown indoor environments by using sensor fusion. The robot's operation objective is to clean floor or any other applicable surface and to build a map of the surrounding environment for some further purpose such as finding the shortest path available. Using its cleaning robot system for an autonomous mobile robot can move in various modes and perform dexterous tasks. Performance of the cleaning robot system is better than a fixed base redundant robot in avoiding singularity and obstacle. Sensor fusion using the clean robot improves the performance of the robot with redundant freedom in workspace and Map-Building. In this paper, Map-building of the cleaning robot has been studied using sensor fusion. A sequence of this alternating task execution scheme enables the clean robot to execute various tasks efficiently. The proposed algorithm is experimentally verified and discussed with a cleaning robot, KCCR.

• Journal of Advanced Marine Engineering and Technology
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• v.34 no.3
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• pp.376-382
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• 2010

These days, a study on 'Unmanned Surface Vehicle (USV)' has made very active progress in many countries. Even if it is being expected that there will be a great demand of USV for wide field, such as military operation, private sector, and etc., the study of USV in Korea is still at an early stage. For this reason, we have made a very small USV which is composed of dual mode (autonomous and remote control). The TCP/IP communication is applied to the USV.

• International Journal of Aeronautical and Space Sciences
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• v.18 no.4
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• pp.767-779
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• 2017

Automated mission planning for unmanned aerial vehicles (UAVs) is difficult because of the propagation of several sources of error into the solution, as for any large scale autonomous system. To ensure reliable system performance, we quantify all sources of error and their propagation through a mission planner for operation of UAVs in an obstacle rich environment we developed in prior work. In this sequel to that work, we show that the mission planner developed before can be made robust to errors arising from the mapping, sensing, actuation, and environmental disturbances through creating systematic buffers around obstacles using the calculations of uncertainty propagation. This robustness makes the mission planner truly autonomous and scalable to many UAVs without human intervention. We illustrate with simulation results for trajectory generation of multiple UAVs in a surveillance problem in an urban environment while optimizing for either maximal flight time or minimal fuel consumption. Our solution methods are suitable for any well-mapped region, and the final collision free paths are obtained through offline sub-optimal solution of an mTSP (multiple traveling salesman problem).

• Proceedings of the KSR Conference
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• 2004.06a
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• pp.1355-1359
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• 2004

In this paper, We elicit the necessity of the Autonomous Decentralized Traffic Control System by analyzing problems of the Centralized Traffic Control System and present operation system. The automatic traffic control system using in large and high-density railway stations is designed and implemented on the basis of the elicited necessity in this paper. It is proposed to use broadcasting protocol for interface of stations in order to ensure autonomy. The result is that advantages of the Autonomous Decentralized Traffic Control System makes on-line expansion and maintenance available. step-by-step construction available. and reduce the area of the influences of system fault when any system fault happens.

• Journal of Institute of Control, Robotics and Systems
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• v.15 no.1
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• pp.54-60
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• 2009

In this paper, a precision landing approach is implemented based on real-time image processing. A full-scale landmark for automatic landing is used. canny edge detection method is applied to identify the outside quadrilateral while circular hough transform is used for the recognition of inside circle. Position information on the ground landmark is uplinked to the unmanned helicopter via ground control computer in real time so that the unmanned helicopter control the air vehicle for accurate landing approach. Ground test and a couple of flight tests for autonomous landing approach show that the image processing and automatic landing operation system have good performance for the landing approach phase at the altitude of $20m{\sim}1m$ above ground level.

• Journal of Institute of Control, Robotics and Systems
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• v.14 no.9
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• pp.904-908
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• 2008

Every autonomous system like a robot needs a power source known as a battery. And proper management of the battery is very important for proper operation. To know State of Charge(SOC) of a battery is the very core of proper battery management. In this paper, the SOC estimation problem is tackled based on the well known Extended Kalman Filter(EKF). Combined the existing battery model is used and then EKF is employed to estimate the SOC. SOC table is constructed by extensive experiment under various conditions and used as a true SOC. To verify the estimation result, extensive experiment is performed with various loads. The comparison result shows the battery estimation problem can be well solved with the technique proposed in this paper. The result of this paper can be used to develop related autonomous system.