• Title/Summary/Keyword: Guideline navigation

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A Guideline Tracing Technique Based on a Virtual Tracing Wheel for Effective Navigation of Vision-based AGVs (비전 기반 무인반송차의 효과적인 운행을 위한 가상추적륜 기반 유도선 추적 기법)

  • Kim, Minhwan;Byun, Sungmin
    • Journal of Korea Multimedia Society
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    • v.19 no.3
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    • pp.539-547
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    • 2016
  • Automated guided vehicles (AGVs) are widely used in industry. Several types of vision-based AGVs have been studied in order to reduce cost of infrastructure building at floor of workspace and to increase flexibility of changing the navigation path layout. A practical vision-based guideline tracing method is proposed in this paper. A virtual tracing wheel is introduced and adopted in this method, which enables a vision-based AGV to trace a guideline in diverse ways. This method is also useful for preventing damage of the guideline by enforcing the real steering wheel of the AGV not to move on the guideline. Usefulness of the virtual tracing wheel is analyzed through computer simulations. Several navigation tests with a commercial AGV were also performed on a usual guideline layout and we confirmed that the virtual tracing wheel based tracing method could work practically well.

A Vision Based Guideline Interpretation Technique for AGV Navigation (AGV 운행을 위한 비전기반 유도선 해석 기술)

  • Byun, Sungmin;Kim, Minhwan
    • Journal of Korea Multimedia Society
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    • v.15 no.11
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    • pp.1319-1329
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    • 2012
  • AGVs are more and more utilized nowadays and magnetic guided AGVs are most widely used because their system has low cost and high speed. But this type of AGVs requires high infrastructure building cost and has poor flexibility of navigation path layout changing. Thus it is hard to applying this type of AGVs to a small quantity batch production system or a cooperative production system with many AGVs. In this paper, we propose a vision based guideline interpretation technique that uses the cheap, easily installable and changeable color tapes (or paint) as a guideline. So a vision-based AGV with color tapes is effectively applicable to the production systems. For easy setting and changing of AGV navigation path, we suggest an automatic method for interpreting a complex guideline layout including multi-branches and joins of branches. We also suggest a trace direction decision method for stable navigation of AGVs. Through several real-time navigation tests with an industrial AGV installed with the suggested technique, we confirmed that the technique is practically and stably applicable to real industrial field.

The International Conference Report for e-navigation SQA and HCD Guideline (e-navigation SQA/HCD 통합 가이드라인을 위한 국제 논의 동향)

  • Kim, Hyo-Seung;Jung, Ji-Eun;Lim, Sang-Woo;Lee, Seojeong
    • Proceedings of the Korean Institute of Navigation and Port Research Conference
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    • 2015.10a
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    • pp.7-8
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    • 2015
  • In MSC $95^{th}$ commitee, the Guideline on software quality assurance and human-centred design for e-navigation was approved as a circular. After that, the practical guidance to apply the guidance for marine-industry is developing. This guidance presents detailed actions which is done with the software development life-cycle and it provides templates of basic outcomes of the detailed actions. In April 2015, the "e-navigation SQA and HCD Guideline Workshop 2015" was held. There was discussions about the improvement and application plans of the guideline. Also, various opinions of marine-industry about IMO SQA were gathered and how to apply to the marine-industry with harmonization of SQA and HCD was discussed. This paper subscribes the future work to improve the guideline discussed on the workshop.

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Study on the Effective Solution of Obstacle Avoidance Strategy for a Mobile Robot in the Guideline Navigation

  • Wang, Jiwu;Sugisaka, Masanori
    • 제어로봇시스템학회:학술대회논문집
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    • 2005.06a
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    • pp.2015-2018
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    • 2005
  • Obstacle avoidance is a basic skill to make a mobile robot move effectively and safely even in any arbitrarily given environment. Because of the difficulty of self-location caused by unavoidable slip and drift errors of sensors and effective detection of any encountered obstacle, only finite and simple obstacle avoidance strategies can be carried out. In this paper we mainly explored how to make a robot perform effectively obstacle detection and avoidance in the guideline navigation with one CCD video camera and some supersonic sensors. Making use of the specially designed guideline, the detection and calculation of the geometric dimensions of the encountered obstacle became simpler. And possible avoidance strategies appropriate to our navigation were studied and the simulations results were given.

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A Study on Requirement analysis process for the practical guidance of e-Navigation SQA guideline (e-Navigation SQA 가이드라인 실무 지침을 위한 요구사항 분석 프로세스 연구)

  • Kim, Hyoseung;Lee, Seojeong
    • Journal of Digital Contents Society
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    • v.16 no.6
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    • pp.935-941
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    • 2015
  • The maritime industry has been developing e-Navigation strategy for safety navigation. The implementation of e-Navigation strategy will cause many needs for developing new software increasingly. For this reason, IMO referred to importance of software quality and endorsed the e-Navigation SQA/HCD guideline as an official IMO document. Accordingly, it is necessary to develop a practical guidance to apply the guideline. This paper describes the elicitation results about the detailed actions of requirement analysis stage based on quality standards. Also, the improvement measure is proposed in this paper.

User Requirement Analysis of ECDIS for the Development on S-Mode Guideline (S-Mode 가이드라인 개발을 위한 ECDIS 사용자 요구사항 분석)

  • Jung, Min;Chae, Byeong-Geun;Ahn, Young-Joong
    • Journal of Navigation and Port Research
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    • v.40 no.3
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    • pp.89-95
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    • 2016
  • S-Mode is a concept involving a standardized navigation display with accompanying standardized functionality and interfaces for navigational equipment. It was proposed by the International Federation of Shipmasters' Associations at IMO NAV $54^{th}$ session in 2008. The IMO e-Navigation Strategy Implementation Plan(SIP) addresses, S-Mode and the IMO MSC at its $95^{th}$ session in 2015 approved an output 1 to develop S-Mode guidance. In this study, it has been carried out survey of user needs for adopting S-Mode guideline on ECDIS which is core navigational equipment. It is conducted with a questionnaire survey, targeting deck officers and masters who will be the primary users of the equipment related to the e-Navigation system. In this research, users' opinion survey regarding the necessity of development, the scope of standardization, and priorities was conducted. This survey result could be contributed to development S-Mode guideline and specify the concept of S-Mode. It would be derived from standardizing component through providing elements to be considered for its development.

A Study on the Connective Points between IMO Cyber-security Guideline and e-Navigation Software Quality Guideline with Data Quality Perspectives (데이터품질 관점에서 IMO 사이버보안 가이드라인과 해양소프트웨어 품질 가이드라인의 연계방안)

  • Jung, Jieun;Shim, Hoyong;Lee, Seojeong
    • Proceedings of the Korean Institute of Navigation and Port Research Conference
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    • 2016.05a
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    • pp.38-39
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    • 2016
  • IMO는 e-navigation을 구현하기 위한 전략이행계획에 따라 e-navigation 소프트웨어 품질보증 가이드라인을 개발하였고 이는 IMO의 회람문서로 등재되었다. 이 가이드라인에서 e-navigation 설계 시 고려해야 하는 품질 특성으로 사이버보안에 대해 언급하고 있다. 2016년 6월 MSC 96차 회의에 미국과 BIMCO 등 주요 IMO회원국 및 기구에서 제출한 사이버보안 가이드라인을 주요 의제로 다룬다. 본 논문에서는 데이터 품질 관점에서 IMO 사이버보안 가이드라인과 e-navigation 소프트웨어 품질 가이드라인의 연계방안을 제시하고자 한다.

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Survey and Analysis of International Standards for Practical Apply to Guideline on Software Quality Assurance and Human-Centred Design for e-Navigation (e-Navigation 소프트웨어 품질 보증 및 인간중심설계 가이드라인의 실무 적용을 위한 국제표준 조사 및 분석)

  • Jung, Jieun;Lee, Seojeong
    • Proceedings of the Korean Institute of Navigation and Port Research Conference
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    • 2015.10a
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    • pp.9-10
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    • 2015
  • e-navigation is a Strategy developed by the IMO. It aims to implement the strategy in 2018. To this end, e-navigation Software Quality Assurance and Human-Centred Design Guidelines has been developing for the implementation and development of e-Navigation. The IMO MSC approved this guideline as a MSC circular in June 2015. In this paper, international standards of software quality assurance and human-centred design has been surveyed and analyzed in terms of usability testing for the practical application of this guideline. The result is planning to be reflected in the practical application guidance for the development of e-navigation equipment hardware-software combination.

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Fuzzy Navigation Control of Mobile Robot equipped with CCD Camera (퍼지제어를 이용한 카메라가 장착된 이동로봇의 경로제어)

  • Cho, Jung-Tae;Lee, Seok-Won;Nam, Boo-Hee
    • Journal of Industrial Technology
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    • v.20 no.B
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    • pp.195-200
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    • 2000
  • This paper describes the path planning method in an unknown environment for an autonomous mobile robot equipped with CCD(Charge-Coupled Device) camera. The mobile robot moves along the guideline. The CCD camera is used for the detection of the existence of a guideline. The wavelet transform is used to find the edge of guideline. It is possible for us to do image processing more easily and rapidly by using wavelet transform. We make a fuzzy control rule using image data as an input then determined the position and the navigation of the mobile robot. The center value of guideline is the input of fuzzy logic controller and the steering angle of the mobile robot is the fuzzy controller output. Some actual experiments show that the mobile robot effectively moves to target position by means of the applied fuzzy control.

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관제업무 집중도 향상을 위한 방안

  • Kim, Jun-Seong;Gwon, Wan-Beom;Park, Geon-Ho
    • Proceedings of the Korean Institute of Navigation and Port Research Conference
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    • 2012.06a
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    • pp.597-599
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    • 2012
  • 본 연구는 다양화, 정밀화, 현대화되고 있는 해상교통관제 환경에 맞추어 신체적, 제도적, 환경적인 근무요건들을 분석하여 관제사의 집중도 향상을 위한 Workload 경감 방법에 대하여 고찰하였다. IALA Guideline No. 1045 - On Staffing Levels at VTS Centers Edition 1에 언급된 workload에 영향을 끼치는 요소들을 중심으로 현재의 국내 해상교통관제센터의 여건에 대하여 분석하였다. 항공관제센터 등의 순환근무체제를 비교 분석하고, 관제집중도 향상을 위해 보완해야 할 사항에 대하여 검토하였다.

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