• 제어로봇시스템학회논문지
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• 제19권11호
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• pp.1029-1035
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• 2013

This paper proposes a real time lane detection algorithm using LRF (Laser Range Finder) for autonomous navigation of a mobile robot. There are many technologies for safety of the vehicles such as airbags, ABS, EPS etc. The real time lane detection is a fundamental requirement for an automobile system that utilizes outside information of automobiles. Representative methods of lane recognition are vision-based and LRF-based systems. By the vision-based system, recognition of environment for three dimensional space becomes excellent only in good conditions for capturing images. However there are so many unexpected barriers such as bad illumination, occlusions, and vibrations that the vision cannot be used for satisfying the fundamental requirement. In this paper, we introduce a three dimensional lane detection algorithm using LRF, which is very robust against the illumination. For the three dimensional lane detections, the laser reflection difference between the asphalt and lane according to the color and distance has been utilized with the extraction of feature points. Also a stable tracking algorithm is introduced empirically in this research. The performance of the proposed algorithm of lane detection and tracking has been verified through the real experiments.

• 한국지능시스템학회논문지
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• 제26권6호
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• pp.505-510
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• 2016

본 논문은 모바일 로봇의 SLAM(Simultaneous Localization and Mapping) 구현 시 사용되는 스캔매칭을 위한 회전오차에 강인한 대응점 탐색 기법을 제시한다. 많은 모바일 로봇의 연구에 차동구동방식의 구동부가 사용되는데, 이는 곡선 주행이나 제자리 회전을 위해 두 모터의 속력을 다르게 하거나, 반대 방향으로 제어하게 된다. 이러한 경우 직선 주행에 비해 비교적 바퀴의 미끄러짐 현상(Wheel Slip)을 심화시켜 모바일 로봇의 누적 위치 오차를 증가시키는 요인이 된다. 따라서 본 논문에서는 모바일 로봇의 회전 반경을 기반으로 최근접점을 추출하는 대응점 탐색 기법을 통해 스캔매칭 성능을 향상시키고자 한다. 제안된 방법의 검증을 위해 LRF(Laser Range Finder)를 이용해 실험을 진행하였으며, 기존 알고리즘에 주로 적용되는 유클리디안 최근접점 기반의 대응점 탐색 알고리즘과 비교한 결과, 제안된 대응점 탐색 기법이 보다 정확하게 대응점 집합을 추출하는 것을 확인했다.

• 한국건설관리학회논문집
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• 제5권5호
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• pp.151-162
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• 2004

Current methods for construction site modeling employ large, expensive laser range scanners that produce dense range point clouds of a scene from different perspectives. Days of skilled interpretation and of automatic segmentation may be required to convert the clouds to a finished CAD model. The dynamic nature of the construction environment requires that a real-time local area modeling system be capable of handling a rapidly changing and uncertain work environment. However, in practice, large, simple, and reasonably accurate embodying volumes are adequate feedback to an operator who, for instance, is attempting to place materials in the midst of obstacles with an occluded view. For real-time obstacle avoidance and automated equipment control functions, such volumes also facilitate computational tractability. In this research, a human operator's ability to quickly evaluate and associate objects in a scene is exploited. The operator directs a laser range finder mounted on a pan and tilt unit to collect range points on objects throughout the workspace. These groups of points form sparse range point clouds. These sparse clouds are then used to create geometric primitives for visualization and modeling purposes. Experimental results indicate that these models can be created rapidly and with sufficient accuracy for automated obstacle avoidance and equipment control functions.

• 대한전기학회:학술대회논문집
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• 대한전기학회 1987년도 전기.전자공학 학술대회 논문집(II)
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• pp.1256-1259
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• 1987

This paper gives a new SRF (Sonic Range Finder) Array formation on the mobile robot. This SRF Array formation obtaine the mobile robot's environmental informations wider and faster than the other systems and detects the obstacles in the robot's path. It is processed and controlled by 8031, on-chip micro-computer. SRF Array sensors are drived by the LM1812 transceiver and selected by the 8-channel channel multiplexer. In this paper, it detects the obstacles in wider range and gives them to the MAIN to design the shortest modify path.

• 한국철도학회:학술대회논문집
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• 한국철도학회 2008년도 춘계학술대회 논문집
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• pp.299-304
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• 2008

Catenary and Pantograph are a power supply devices for electric trains and shall be steadily contacted. Rail catenary must be installed precisely and managed for stable train operations. But external factors such as weathers, nature, etc., or aging affect catenary geometry. Changed catenary height causes high voltage spark or instant electric disconnection. Big spark and disconnection damage pantograph shoe and catenary coating and might interrupt rail operations. To prevent a big scale spark or electric disconnection catenary maintenance shall be required with catenary geometry measurement systems. In this paper, we describe the development of catenary height and stagger measurement system. The catenary height and stagger measurement system uses Acuity company's AR4000 Range Finder for distance measurement and AccuRange Line Scanner for degree measurement. This system reports suspicious overhead line sections with excessive height and stagger variance.

• 제어로봇시스템학회논문지
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• 제16권7호
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• pp.617-624
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• 2010

This article describes the system architecture of KUVE (KIST Unmanned Vehicle Electric) and unmanned autonomous navigation of it in KIST. KUVE, which is an electric light-duty vehicle, is equipped with two laser range finders, a vision camera, a differential GPS system, an inertial measurement unit, odometers, and control computers for autonomous navigation. KUVE estimates and tracks the boundary of road such as curb and line using a laser range finder and a vision camera. It follows predetermined trajectory if there is no detectable boundary of road using the DGPS, IMU, and odometers. KUVE has over 80% of success rate of autonomous navigation in KIST.

• 전기학회논문지
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• 제57권4호
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• pp.686-691
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• 2008

This paper proposes the concept of "virtual sensor data" and its application for real time obstacle avoidance. The virtual sensor data is virtual distance which takes care of the movement of the obstacle as well as that of the robot. In practical application, the virtual sensor data is calculated from the odometry data and the range sensor data. The virtual sensor data can be used in all the methods which use distance data for collision avoidance. Since the virtual sensor data considers the movement of the robot and the obstacle, the methods utilizing the virtual sensor data results in more smooth and safer collision-free motion.

• 융합신호처리학회 학술대회논문집
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• 한국신호처리시스템학회 2000년도 하계종합학술대회논문집
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• pp.145-148
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• 2000

Nowadays there are lots of researches on robot systems working on danger environments and control led remotely. In this paper, we describe a virtual robot interface system based on Internet In the system, a client can order scanning for range finding, then server detects a 3D profile data from the objects by using robot controlling and a range finder automatically. If one clicks the original position of object and destination on virtual space, the robot moves the object to the new position in real space. The proposed interface system supports advanced virtual 3D interface and makes it possible one to manage the objects remotely more conveniently.

• 제어로봇시스템학회논문지
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• 제21권5호
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• pp.465-470
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• 2015

This paper proposes a robust 3D mapping system for a UAV (Unmanned Aerial Vehicle) that carries a LRF (Laser Range Finder) using the sinusoidal trajectory algorithm. In the case of previous 3D mapping research, the UAV usually takes off vertically and flights up and down while the LRF is measuring horizontally. In such cases, the measuring range is limited and it takes a long time to do mapping. By using the sinusoidal trajectory algorithm proposed in this research, the 3D mapping can be time-efficient and the measuring range can be widened. The 3D mapping experiments have been done to evaluate the performance of the sinusoidal trajectory algorithm by scanning indoor walls.

• 융합보안논문지
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• 제8권4호
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• pp.161-166
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• 2008

본 논문은 3차원 모델 표면의 특징 곡률(Feature Curvature) 정보를 이용하여 3차원 거리정보 데이터(Range Image)를 자동으로 정합하는 효율적인 방법을 제안하고 그 성능을 분석하였다. 제안한 알고리즘은 3차원 데이터에 대한 거리정보의 물리적 특성인 가우스 곡률(Gaussian Curvature)을 이용하여 모델의 특징점을 검출하고, 공분산 행렬(Covariance Matrix)을 이용하여 각 데이터의 지역좌표계(Local Coordinate System) 사이의 변위를 계산한다. 3차원 형상 취득장치의 카메라 위치는 3차원 데이터와 투영된 2차원 영상과의 사영행렬(Projection Matrix) 관계식으로 계산한다. 결론부분에서는 실험결과를 기존 연구방법과 비교하여 제안된 방법이 더 빠르고 정확하게 정합하는 결과를 보임으로써 3차원 물체인식이나 모델링에 응용성을 제시하였다.