• 로봇학회논문지
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• 제5권2호
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• pp.120-126
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• 2010

This paper presents to study the path tracking method of AGV(autonomous guided vehicle) which has a laser guidance system. An existing automatic guided vehicles(AGVs) which were able to drive on wired line only had a automatic guidance system. However, the automatic guidance systems that those used had the high cost of installation and maintenance, and the difficulty of system change according to variation of working environment. To solve such problems, we make the laser guidance system which is consisted of a laser navigation and gyro, encoder. That is robust against noise, and flexible according to working environment through sensor fusion. The laser guidance system can do a perfect autonomous driving. However, the commercialization of perfect autonomous driving system is difficult, because the perfect autonomous driving system must recognize the whole environment of working space. Hence, this paper studied the path tracking of AGV using laser guidance system without wired line. The path tracking method is consisted of virtual path generation method and driving control method. To experiment, we use the fork-type AGV which is made by ourselves, and do a path tracking experiments repeatedly on same experimental environment. In result, we verified that proposed system is efficient and stable for actual fork-type AGV.

• 정보와 통신
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• 제10권11호
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• pp.74-84
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• 1993

Hyundai Electronics Industries Corp has developed a navigation system which automatically computes the current position and displays it on the map using GPS(Global Positioning System). This system has such features as follow : searching of destination by means of digital mapping, locating of the present position on the map and detecting of guidance timing through signals from the artificial satellites and vehicle's sensors, and having a few of functions as TV & VTR monitoring, tracing the route, displaying service information which include hotels, restaurants, entertainments, et al. This paper describes the operations and construction of this navigation system.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2004년도 ICCAS
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• pp.1187-1190
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• 2004

This paper presents a traveler guidance system that offers 3D street information such as road types, signal light systems, street trees, buildings, etc. We consider 5x4 road system of Gangnam(in Seoul, Korea) as a test area and reflect the traveler's car-driving situation. A web server is constructed to serve traveler's driving path by switching 3D animation scenes automatically. To do batch processing of geometric data for the 3D graphical streets construction, we have extracted major street information from present GIS database and created new GIS file formats (SMF files), which contain data sessions for links, nodes, and facilities. With these files, we can render 3D navigation scenes. A number of vector calculations were performed for the geometrical consistence and texture-mapping method was used for the realistic scene generation. Finally, we have verified the effectiveness of the service by operating a test scenario. We have checked whether traveler's 2D path and 3D navigation are exactly reported after setting specific departure and destination. This system offers us well awareness of streets and takes useful role of traveler guidance.

• 한국항공우주학회지
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• 제43권8호
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• pp.669-676
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• 2015

본 논문에서는 기동하는 표적에 대한 입사각 제어 유도법칙을 제안하였다. 제안된 유도법칙은 정지표적에 대한 최적입사각제어 유도법칙을 변형한 것으로서 기존의 PN(Proportional Navigation) 유도법칙에 입사각제어 항이 추가된 바이어스 PN 유도법칙의 형태를 갖는다. 시선각, 비행경로각, 그리고 표적에 대한 상대 비행경로각 관점에서의 세 가지 다른 종류의 입사각을 정의하였다. 다양한 공대공 교전 시나리오에 대한 수치 시뮬레이션을 통해 제안한 유도법칙의 성능을 검증하였다.

• 한국군사과학기술학회지
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• 제5권3호
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• pp.113-119
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• 2002

A target adaptive guidance(TAG) algorithm is proposed employing the near-zone signal that can be measured from an infrared seeker. The guidance order is composed of a conventional PNG command and an additional command to be calculable from an additional LOS rate between a hot point of target and a required intercept point. The characteristic of the near-zone signal is similar to that of LOS rate that is inversely proportional to the square of time-to-go. Hence the proposed scheme can be applied to real systems with no estimator for time-to-go. From analysis results on the miss distance with perfect missile and perfect seeker, it follows that the proposed TAG algorithm guarantees missile to be ideally guided to the required intercept point. And it is less affected by the TAG start time and a proportional navigation ratio than other TAG schemes using a LOS rate such as a step bias or a ramp bias.

• International Journal of Aeronautical and Space Sciences
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• 제7권2호
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• pp.1-13
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• 2006

The Lyapunov stability theory has been known inadequate to prove capturability of guidance laws because the equations of motion resulted from the guidance laws do not have the equilibrium point. By introducing a proper transformation of the range state, the original equations of motion for a stationary target can be converted into nonlinear equations with a specified equilibrium subspace. Physically, the equilibrium subspace denotes the direction of missile velocity to the target. By using a single Lyapunov function candidate, capturability of several PN laws for a stationary target is then proved for examples. In this approach, there is no assumption of the constant speed missile. The proposed method is expected to provide a unified and simplified scheme to prove the capturability of various kinds of guidance laws.

• International Journal of Aeronautical and Space Sciences
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• 제18권4호
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• pp.757-766
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• 2017

For implementing the proportional navigation guidance law on passive homing missiles equipped with strapdown imaging infrared seekers, the line-of-sight angles and rates with respect to the inertial frame should be estimated by carefully handling the parasitic instability effect due to the seeker's latency. By introducing a new state vector representation along with the Pade approximation for compensating the time-delay of the seeker, this paper proposes a new guidance filter structure, stochastic dynamic models and measurement equations, in three-dimensional homing problem. Then, it derives the line-of-sight angle and rate estimator in general two-dimensional engagement by applying the extended Kalman filter to the proposed structure. The estimation performance and the characteristics of the proposed filter were evaluated via a series of numerical experiments.

• 제어로봇시스템학회논문지
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• 제15권1호
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• pp.8-14
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• 2009

A formation flight guidance logic that enables the leader-follower station keeping between two UAVs is presented in this paper. The logic is motivated by the investigation of the relation between the proportional navigation and the nonlinear trajectory tracking guidance law, The simplicity of the presented method provides computational efficiency and allows easy implementation. An excellent performance of the proposed logic is demonstrated via various numerical simulations for multiple UAVs environment.

• 한국정보통신학회:학술대회논문집
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• 한국해양정보통신학회 2010년도 춘계학술대회
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• pp.560-562
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• 2010

오늘날 LED 조명 시스템은 전력을 적게 소비하고 형광등보다 긴 수명을 가진다. 가시광 통신은 LED 가시광(RGB)을 이용한 무선 통신이다. 본 논문에서는 LED 조명을 이용하여 위치 기반의 실내 내비게이션을 구현하고 지하주차장에서 가시광 통신을 이용하여 주차 가능한 대수와 위치 등의 정보를 안내해 주는 주차안내 시스템을 설계하였다. 우리는 모의실험을 통하여 가시광 무선통신을 이용한 지하주차장에서 주차안내 시스템의 가능성을 알아보았다.

• 한국정보통신학회:학술대회논문집
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• 한국정보통신학회 2012년도 춘계학술대회
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• pp.848-849
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• 2012

본 논문에서는 운전자가 후진 시, 자동차의 후진 예상경로를 파악하여 내비게이션이나 휴대용 기기에 후방카메라 영상과 예상 경로를 함께 표시하여 안전운전을 도와주는 경로 예측 방식의 후진 주차 가이드 시스템을 개발하였다. 본 시스템은 다양한 차종에 적용 가능하며, 다양한 후방카메라의 특성 및 설치환경을 지원하고 내비게이션이나 휴대용 기기에 호환되며 시스템의 탈부착이 쉽고, 편리하게 구성할 수 있다.