• Journal of the Korean Society of Industry Convergence
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• v.24 no.6_2
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• pp.891-897
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• 2021

In this paper, we propose a destination optimal route algorithm for providing route finding service for the transportation handicapped by using the multi-criteria decision-making technique and the modified A-STAR optimal route search algorithm. This is a method to set the route to the destination centering on safety by replacing the distance cost of the existing A-STAR optimal route search algorithm with the safety cost calculated through AHP/TOPSIS analysis. To this end, 10 factors such as road damage, curb, and road hole were first classified as poor road factors that hinder road driving, and then pairwise comparison of AHP was analyzed and then defined as the weight of TOPSIS. Afterwards, the degree of driving safety was quantified for a certain road section in Busan through TOPSIS analysis, and the development of an optimal route search algorithm for the transportation handicapped that replaces the distance cost with safety in the finally modified A-STAR optimal route algorithm was completed.

• 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.

• Journal of the Korean Institute of Illuminating and Electrical Installation Engineers
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• v.20 no.9
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• pp.45-53
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• 2006

This paper proposes a method for an effective intelligent route decision for automatic moving robots(AMR) using a 2D spatial map of a stereo camera system. In this method, information about depth and disparity map are detected in the inputting images of a parallel stereo camera. The distance between the automatic moving robot and the obstacle is detected, and a 2D spatial map is obtained from the location coordinates. Then the relative distances between the obstacle and other objects are deduced. The robot move automatically by effective and intelligent route decision using the obtained 2D spatial map. From experiments on robot driving with 240 frames of stereo images, it was found that the error ratio of the calculated distance to the measured distance between objects was very low, 1.52[%] on average.

• 제어로봇시스템학회:학술대회논문집
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• 2001.10a
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• pp.112-112
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• 2001

An Anti-lock Brake System ABS is developed to increase the stability of vehicle and to reduce the stopping distance when braking manoeuvres by measuring the wheel and vehicle speed. An ABS mathematical model which describes the dynamics of vehicle and calculate the stopping distance, is explained in this paper. To proceed this study, a mathematical model is produced with simulink software package. Although the model considered here is relatively simple, it retains the essential dynamics of the system. The results are evaluated at the various driving or road conditions. The results from mathematical model show that ABS reduces the stopping distance at the various road conditions. This mathematical model could be ...

• Journal of the Ergonomics Society of Korea
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• v.14 no.2
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• pp.15-24
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• 1995

The purpose of this study is to provide ergonomic research data for the redesign of the car license plate in Korea. Several alternatives having various combinations of fonts, stroke-width ratios, color contrasts, and arrays were considered in order to find the best one in terms of the reading-distance and the misreading-rate. Experiments investigating the reading-distance, misreading-rates were conducted. In addition, the alternatives were tested in a real driving situation. The results can be summarized as follows : The typography having mixed type numeric forms with quasi-Gothic and NAMEL, stroke-width ratio of 1:7 .approx. 1: 8, the black on yellow contrast showed a good reading-distance. The array with Hangul(showing territorial office and use-sign) at the upper row and 6 mumbers ( showing car class-sign and serial number) at the lower row showed relatively low misreading-rate.

• Proceedings of the IEEK Conference
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• 2002.06c
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• pp.5-8
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• 2002

In this paper, we propose the self-autonomous algorithm for mobile robot system. The proposed mobile robot system controlled by Personal Digital Assistant(PDA) can follow the target at regular intervals. The mobile robot can evaluate the distance between robot and target with ultrasonic sensors, transmits the distance to the PDA. The velocity and direction decided in PDA are transmitted to the mobile robot with wireless LAN communication. Considering the state, velocity-changing and distance-maintenance, of the mobile robot, driving velocity and direction are applied. For safety, the velocity of the mobile robot is changed step by step. As a result, we confirm the ability of following the target with proposed mobile robot.

• Journal of Institute of Control, Robotics and Systems
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• v.3 no.2
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• pp.169-178
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• 1997

This paper presents a new solution approach to moving obstacle avoidance problem of a robot. A new concept, avoidability measure(AVM) is defined to describe the state of a pair of a robot and an obstacle regarding the collision between them. As an AVM, virtual distance function(VDF) is derived as a function of three state variables: the distance from the obstacle to the robot, outward speed of the obstacle relative to the robot, and outward speed of the robot relative to the obstacle. By keeping the virtual distance above some positive limit value, the robot avoids the obstacle. In terms of the VDF, an artificial potential is constructed to repel the robot away from the obstacle and to attract the robot toward a goal location. At every sampling time, the artificial potential field is updated and the force driving the robot is derived from the gradient of the artificial potential field. The suggested algorithm drives the robot to avoid a moving obstacle in real time. Since the algorithm considers the mobility of the obstacle and robot as well as the distance, it is effective for moving obstacle avoidance. Some simulation studies show the effectiveness of the proposed approach.

• The Journal of the Korea institute of electronic communication sciences
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• v.8 no.12
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• pp.1833-1840
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• 2013

A golf ball collecting robot in a golf ball driving range has been recently required because it is safer and more economic than a human being. In this paper, the golf ball recognition and distance estimation system based on a neural network and OpenCV is developed for the robot. The simulation results show that the recognition ratio is over 87% for the distance of less than 120cm and accurate rate for distance estimation is over 85% for golf balls in 30-180cm from a webcam.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2007.11a
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• pp.318-321
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• 2007

Since human listening is very sensitive to sound, a subjective index of a sound quality is required. Therefore, in the analysis for each situation, the sound evaluation is composed with sound quality factor. Many researchers spends their effort to make a more reliable and more accurate of sound in term of sound quality index for various system noise. The previous methods to evaluation of the SQ about vehicle interior noise are linear regression analysis of subjective SQ metrics by statistics and the estimation of the subjective SQ values by neural network. But these are so depended on jury test very much that they result in many difficulties. So, to reduce jury test weight, we suggested a new method using Mahalanobis distance for SQ evaluation. Threrefore, in this study Mahalanobis distance for the vehicle interior noise was derived using the objective SQ except jury test. Finnaly, the results of the SQ evaluation was analyzed discrimination between reference and abnormal group.

• Transactions of the Korean Society for Noise and Vibration Engineering
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• v.18 no.1
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• pp.57-60
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• 2008

Since human listening is very sensitive to sound, for evaluating of a sound quality is required. Therefore, in the analysis for each situation, the sound evaluation is composed with sound quality factor. My researchers spends their effort to make a more reliable and more accurate of sound in term of sound quality index for various system noise. The previous methods to evaluation of the SQ about vehicle interior noise are linear regression analysis of subjective SQ metrics by statistics and the estimation of the subjective SQ values by neural network. But these are highly dependent on jury test and have many difficulties due to various environmental factors. So, to reduce jury test weight. we suggested a new method using Mahalanobis distance for SQ evaluation. Threrefore, in this study Mahalanobis distance for the vehicle interior noise was derived using the objective SQ except jury test. Finnaly, the results of the SQ evaluation was analyzed discrimination between reference and abnormal group.