• 한국항해항만학회:학술대회논문집
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• 한국항해항만학회 2000년도 추계학술대회논문집
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• pp.227-234
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• 2000

AGV is very proper equipment for Port Automation. AGV must have Obstacle Detection System(ODS) for port automation. Obstacle Detection System must have some functions. It must be able to classify some specified object from background data. And it must be able to track classified objects. Finally, ODS must determine its next action for safe cruise whether it must do emergency stop or it must speed down or it must change its track. For these functions, ODS can have many different structures. In this paper, we will propose one structure among some possible ones. Our ODS has been being developed using proposed structure since last year. In this paper, we will introduce our system which is under construction.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2002년도 춘계학술대회 논문집
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• pp.487-490
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• 2002

AGV is very useful equipment to transfer containers in automated container terminal. AGV must have Obstacle Detection System (ODS) fur port automation. ODS needs the function to classify some specified object from background in acquired data. And it must be able to track classified moving objects. Finally, ODS could determine its next action for safe deriving whether it should do emergency stop or speed down, or it should change its deriving lane. For these functions, ODS can have many different kinds of algorithm. In this paper, we present one of them under developing.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 1997년도 추계학술대회 논문집
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• pp.467-471
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• 1997

AGV is very proper equipment for Port Automation. AGV must have Obstacle Detection System(ODS) for port automation. Obstacle Detection System must have some functions. It must be able to classify some specified object from background data. And it must be able to track classified objects. Finally, ODS must determine its next action for safe cruise whether it must do emergency stop or it must speed down or it must change it track. For these functions, ODS can have many different structure. In this paper, we will propose one structure among some possible own which is under construction.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2005년도 ICCAS
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• pp.653-657
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• 2005

AGV is very useful equipment to transfer containers in automated container terminal. AGV must have Obstacle Detection System (ODS) for port automation. ODS needs the function to classify some specified object from background in acquired data. And it must be able to track classified moving objects. Finally, ODS could determine its next action for safe driving whether it should do emergency stop or speed down, or it should change its deriving lane. For these functions, ODS can have many different kinds of algorithm. In this paper, we present one of AGV to be used in automated container terminal.

• 한국항해항만학회:학술대회논문집
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• 한국항해항만학회 1999년도 추계학술대회논문집
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• pp.315-320
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• 1999

Obstacle Detection System(ODS) is a essential system for automated vehicle, such as AGV(Automatic Guided Vehicle), mobile robot. Automated vehicle must have a capability to detect and to avoid obstacles to guarantee a safe driving condition. To implement obstacle detection system, virtual bumper concept adapted. Like real bumper in a car, such as in the truck, it protects vehicle from collision using laser distance sensor. When an obstacle(such as other vehicle, building, etc) intrudes this virtual bumper area, a virtual force is calculated and produces necessary strategy to be able to avoid collision. In this paper, simplified virtual bumper concept is presented, and various problems when happens to implement are discussed.