• Journal of the Korea Institute of Military Science and Technology
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• v.13 no.4
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• pp.683-688
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• 2010

The ability to navigate autonomously in off-road terrain is the most critical technology needed for Unmanned Ground Vehicles(UGV). In this paper, we present a method for vision-based terrain cover classification using DCT features. To classify the terrain, we acquire image from a CCD sensor, then the image is divided into fixed size of blocks. And each block transformed into DCT image then extracts features which reflect frequency band characteristics. Neural network classifier is used to classify the features. The proposed method is validated and verified through many experiments and we compare it with wavelet feature based method. The results show that the proposed method is more efficiently classify the terrain-cover than wavelet feature based one.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2013.10a
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• pp.265-267
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• 2013

Tire labeling is an important issue to reduce $CO_2$ and to secure the safety of tire/vehicle on wet road. A basic study on the effects of tire basic stiffness design on tire labeling performance has been done through experimental test. The pass-by noise is affected by tire structural design. The tire with lower side part stiffness and lower tread part stiffness has the lowest PBN level and the best wet grip. And the tire with higher tread part stiffness and higher side part stiffness has the better RR performance. Also it is observed that the trade-off between RR and wet grip exists for various tire stiffness design.

• Transactions of the Korean Society of Automotive Engineers
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• v.15 no.4
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• pp.27-32
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• 2007

Head-Up Display system makes it possible for the driver to be informed of important vehicle data such as vehicle speed, engine RPM or navigation data without taking the driver's eyes off the road. Long focal length optics, LCD with bright illumination, image generator and vehicle interface controllers are key parts of head-up display system. All these parts have been designed, developed and applied to the test vehicle. Virtual images are located about 2m ahead of the driver's eye by projecting it onto the windshield just below the driver's line of sight. Developed head-up display system shows satisfactory results for future commercialization.

• Journal of Korean Society for Geospatial Information Science
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• v.2 no.1 s.3
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• pp.131-139
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• 1994

Geo-spatial information system technology and cartographic modeling techniques were used as a way to Improve the land use planning process. Off-road vehicle(ORV) trails, timber harvest sites, timber haul mads and wildlife ruffed grouse habitats areas should be allocated together in the Wayne National Forest in the United States. Automated spatial cartographic models were developed to resolve the conflicts of the multiple land use allocation. The techniques of descriptive and prescriptive modeling made the multiple land use allocation efficient and effective.

• Journal of Institute of Control, Robotics and Systems
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• v.13 no.12
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• pp.1222-1229
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• 2007

In this paper, we propose a new obstacle negotiation method for the rescue robot. The rescue robot has a variable geometry single-tracked mechanism, so it can maximize a contact length with ground for the adaptability to off-road and pursue a stable system due to the lower center of gravity. In this research, we add the basis of autonomous navigation, driving mode control based on obstacle detection, to the robot to realize automation of mode transformation. Obstacle detection using PSD(Position Sensitive Device) infrared sensors gives active transformation of the track shape. Finally, experimental results about mentioned are presented.

• Transactions of the Korean Society of Automotive Engineers
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• v.13 no.4
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• pp.32-38
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• 2005

Two No Spin Differential(NSD) models were benchmarked for a project of Dual-Use Technology The Axiomatic approach was utilized to evaluate two models and to derive an evolutionary design from the evaluated results. Test methodology is developed and used to evaluate the mobility, steerability, durability and noise of the newly developed sample. The test results of NSD sample on the test methodology are very positive regarding functional performances.

• The Journal of Korea Robotics Society
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• v.5 no.4
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• pp.339-348
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• 2010

One of the requirements for autonomous vehicles on off-road is to move stably in unstructured environments. Such capacity of autonomous vehicles is one of the most important abilities in consideration of mobility. So, many researchers use contact and/or non-contact methods to determine a terrain whether the vehicle can move on or not. In this paper we introduce an algorithm to classify terrains using visual information(one of the non-contacting methods). As a pre-processing, a contrast enhancement technique is introduced to improve classification of terrain. Also, for conducting classification algorithm, training images are grouped according to materials of the surface, and then Bayesian classification are applied to new images to determine membership to each group. In addition to the classification, we can build Traversability map specified by friction coefficients on which autonomous vehicles can decide to go or not. Experiments are made with Load-Cell to determine real friction coefficients of various terrains.

• Journal of the Korean Society for Precision Engineering
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• v.26 no.12
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• pp.69-77
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• 2009

In this study an ANFIS-based trajectory tracking motion control algorithm is proposed for autonomous garage and parallel parking of a model car. The ANFIS controller is trained off-line using data set which obtained by Mandani fuzzy inference system and thereby the processing time decreases almost in half. The controller with a steering delay compensator is tuned through simulations performed under MATLAB/Simulink environment. Experiments are carried out with the model car for garage and parallel parking. The experimental results show that the trajectory tracking performance is satisfactory under various initial and road conditions

• Journal of the Korean Society for Precision Engineering
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• v.25 no.2
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• pp.65-71
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• 2008

In this paper, we propose a new driving mode control algorithm for a mobile robot based on obstacle detection. The robot has a variable geometry single-tracked mechanism, so it can maximize a contact length with ground for the adaptability to off-road and puesue a stable system due to the lower center of gravity. However this robot system embodied passive type according to operator. In this reason, several problems are detected. So, this research presents a new method of obstacle detection using PSD infrared sensors and translates the variable tracks on the best suited driving mode actively. And experimental results about mentioned are presented.

• Journal of the Korean Society of Industry Convergence
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• v.12 no.3
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• pp.129-135
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• 2009

This paper describes traveling systems consisting of one major-wheel and three minor-wheels attached to each tip of three spokes. A link of inter-axle plays an important role of the system. It connects secondary axle to the major wheel axle. Its length is determined to ascend stably various stairs. The systems was designed to mount a cart for carrying agricultural products. The systems was applied to ascend stairs, travel on sand and cross a obstacle, despite of simple design.