• Title, Summary, Keyword: autonomous navigation

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An Obstacle Avoidance Technique of Quadrotor Using Immune Algorithm (면역 알고리즘을 이용한 쿼드로터 장애물회피 기술)

  • Son, Byung-Rak;Han, Chang-Seup;Lee, Hyun;Lee, Dong-Ha
    • IEMEK Journal of Embedded Systems and Applications
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    • v.9 no.5
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    • pp.269-276
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    • 2014
  • In recent, autonomous navigation techniques to avoid obstacles have been studied by using unmanned aircraft vehicles(UAVs) since the increment of UAV's interest and utilization. Particularly, autonomous navigation based UAVs are utilized in several areas such as military, police, media, and so on. However, there are still some problems to avoid obstacle when UVAs perform autonomous navigation. For instance, the UAV can not forward in the corner of corridors even though it utilizes the improved vanish point algorithm that makes an autonomous navigation system. Therefore, in this paper, we propose an obstacle avoidance technique based on immune algorithm for autonomous navigation of Quadrotor. The proposed algorithm is consisted of two steps such as 1) single color discrimination and 2) multiple color discrimination. According to the result of experiments, we can solve the previous problem of the improved vanish point algorithm and improve the performance of autonomous navigation of Quadrotor.

Design of Autonomous Navigation Systems based on Wireless Networks (무선 네트워크 기반 자율주행 시스템 설계)

  • Park, Hye-G.;Lee, Hyong-G.;Kwon, Soon-H.
    • Journal of the Korean Institute of Intelligent Systems
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    • v.22 no.4
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    • pp.435-440
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    • 2012
  • Recently autonomous navigation systems are taken great attention in real industry. The ability to performing desired tasks in rough, changing, unstructured and uncertain environments without continuous human assistance is needed in autonomous navigation systems including autonomous robots. Industrial Mobile robot can be required wireless network communications for the purpose of navigation information sharing. According to these backgrounds, in this paper, we develop sensor network and wireless network-based autonomous navigation systems, and provide experimental results in order to show the validity of the developed systems.

Autonomous Mobile Robot Navigation using Artificial Immune Networks and Fuzzy Systems (인공 면역망과 퍼지 시스템을 이용한 자율이동로봇 주행)

  • Kim, Yang-Hyeon;Lee, Dong-Je;Lee, Min-Jung;Choe, Yeong-Gyu
    • The Transactions of the Korean Institute of Electrical Engineers D
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    • v.51 no.9
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    • pp.402-412
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    • 2002
  • The navigation algorithms enable autonomous mobile robots to reach given target points without collision against obstacles. To achieve safe navigations in unknown environments, this paper presents an effective navigation algorithm for the autonomous mobile robots with ultrasonic sensors. The proposed navigation algorithm consists of an obstacle-avoidance behavior, a target-reaching behavior and a fuzzy-based decision maker. In the obstacle-avoidance behavior and the target-reaching behavior, artificial immune networks are used to select a proper steering angle, make the autonomous mobile robot avoid obstacles and approach a given target point. The fuzzy-based decision maker combines the steering angles from the target-reaching behavior and the obstacle-avoidance behavior in order to steer the autonomous mobile robot appropriately. Simulational and experimental results show that the proposed navigation algorithm is very effective in unknown environments.

A High-Speed Autonomous Navigation Based on Real Time Traversability for 6×6 Skid Vehicle (실시간 주행성 분석에 기반한 6×6 스키드 차량의 야지 고속 자율주행 방법)

  • Joo, Sang-Hyun;Lee, Ji-Hong
    • Journal of Institute of Control, Robotics and Systems
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    • v.18 no.3
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    • pp.251-257
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    • 2012
  • Unmanned ground vehicles have important military, reconnaissance, and materials handling application. Many of these applications require the UGVs to move at high speeds through uneven, natural terrain with various compositions and physical parameters. This paper presents a framework for high speed autonomous navigation based on the integrated real time traversability. Specifically, the proposed system performs real-time dynamic simulation and calculate maximum traversing velocity guaranteeing safe motion over rough terrain. The architecture of autonomous navigation is firstly presented for high-speed autonomous navigation. Then, the integrated real time traversability, which is composed of initial velocity profiling step, dynamic analysis step, road classification step and stable velocity profiling step, is introduced. Experimental results are presented that demonstrate the method for a $6{\times}6$ autonomous vehicle moving on flat terrain with bump.

Development of an Autonomous Navigation System for Unmanned Ground Vehicle

  • Kim, Yoon-Gu;Lee, Ki-Dong
    • IEMEK Journal of Embedded Systems and Applications
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    • v.3 no.4
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    • pp.244-250
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    • 2008
  • This paper describes the design and implementation of an unmanned ground vehicle (UGV) and also estimates how well autonomous navigation and remote control of UGV can be performed through the optimized arbitration of several sensor data, which are acquired from vision, obstacle detection, positioning system, etc. For the autonomous navigation, lane detection and tracing, global positioning, and obstacle avoidance are necessarily required. In addition, for the remote control, two types of experimental environments are established. One is to use a commercial racing wheel module, and the other is to use a haptic device that is useful for a user application based on virtual reality. Experimental results show that autonomous navigation and remote control of the designed UGV can be achieved with more effectiveness and accuracy using the proper arbitration of sensor data and navigation plan.

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Autonomous Navigation of Mobile Robot Using Global Ultrasonic System (전역 초음파 시스템을 이용한 이동 로봇의 자율 주행)

  • 황병훈;이수영
    • Journal of Institute of Control, Robotics and Systems
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    • v.10 no.6
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    • pp.529-536
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    • 2004
  • Autonomous navigation of an indoor mobile robot using the global ultrasonic system is presented in this paper. Since the trajectory error of the dead-reckoning navigation grows with time and distance, the autonomous navigation of a mobile robot requires to localize the current position of the robot, so that to compensate the trajectory error. The global ultrasonic system consisting of four ultrasonic generators fixed at a priori known positions in the work space and two receivers on the mobile robot has the similar structure with the well-known satellite GPS(Global Positioning System), and it is useful for the self-localization of an indoor mobile robot. The EKF(Extended Kalman Filter) algorithm for the self-localization is proposed and the autonomous navigation based on the self-localization is verified by experiments.

[ $H_{\infty}$ ] LATERAL CONTROL OF AN AUTONOMOUS VEHICLE USING THE RTK-DGPS

  • Ryu, J.H.;Kim, C.S.;Lee, S.H.;Lee, M.H.
    • International Journal of Automotive Technology
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    • v.8 no.5
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    • pp.583-591
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    • 2007
  • This paper describes the development of the $H_{\infty}$ lateral control system for an autonomous ground vehicle operating a limited area using the RTK-DGPS(Real Time Kinematic-Differential Global Positioning System). Before engaging in autonomous driving, map data are acquired by the RTK-DGPS and used to construct a reference trajectory. The navigation system contains the map data and computes the reference yaw angle of the vehicle using two consecutive position values. The yaw angle of the vehicle is controlled by the $H_{\infty}$ controller. A prototype of the autonomous vehicle by the navigation method has been developed, and the performance of the vehicle has been evaluated by experiment. The experimental results show that the $H_{\infty}$ controller and the RTK-DGPS based navigation system can sufficiently track the map at low speed. We expect that this navigation system can be made more accurate by incorporating additional sensors.

The Research of Unmanned Autonomous Navigation's Map Matching using Vehicle Model and LIDAR (차량 모델 및 LIDAR를 이용한 맵 매칭 기반의 야지환경에 강인한 무인 자율주행 기술 연구)

  • Park, Jae-Ung;Kim, Jae-Hwan;Kim, Jung-Ha
    • Journal of Institute of Control, Robotics and Systems
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    • v.17 no.5
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    • pp.451-459
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    • 2011
  • Fundamentally, there are 5 systems are needed for autonomous navigation of unmanned ground vehicle: Localization, environment perception, path planning, motion planning and vehicle control. Path planning and motion planning are accomplished based on result of the environment perception process. Thus, high reliability of localization and the environment perception will be a criterion that makes a judgment overall autonomous navigation. In this paper, via map matching using vehicle dynamic model and LIDAR sensors, replace high price localization system to new one, and have researched an algorithm that lead to robust autonomous navigation. Finally, all results are verified via actual unmanned ground vehicle tests.

Autonomous Navigation of KUVE (KIST Unmanned Vehicle Electric) (KUVE (KIST 무인 주행 전기 자동차)의 자율 주행)

  • Chun, Chang-Mook;Suh, Seung-Beum;Lee, Sang-Hoon;Roh, Chi-Won;Kang, Sung-Chul;Kang, Yeon-Sik
    • Journal of Institute of Control, Robotics and Systems
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    • v.16 no.7
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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.

Development of Real-Time Control Architecture for Autonomous Navigation of Powered Wheelchair (전동휠체어의 자유주행을 위한 실시간 제어 구조의 개발)

  • 김병국
    • Journal of Institute of Control, Robotics and Systems
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    • v.10 no.10
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    • pp.940-946
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    • 2004
  • In this paper, an efficient real-time control architecture for autonomous navigation of powered wheelchair is developed. Since an advanced intelligent wheelchair requires real-time performance, the control software architecture of powered wheelchair is developed under Linux real-time extension Real-time Application Interface (RTAI). A hierarchical control structure for autonomous navigation is designed and implemented using real-time processe and interrupts handling of sensory perception based on slanted surface LRF, emergency handling capability, and motor control with 0.1 msec sampling time. The performance of our powered wheelchair system with the implemented control architecture for autonomous navigation is verified via experiments in a corridor.