• Journal of Institute of Control, Robotics and Systems
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• v.11 no.5
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• pp.429-434
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• 2005

In this paper, the maze navigation system using image recognition for autonomous mobile robot is proposed. The proposed maze navigation system searches the target by image recognition method based on ADALINE neural network. The infrared sensor system must travel all blocks to find target because it can recognize only one block information each time. But the proposed maze navigation system can reduce the number of traveling blocks because of the ability of sensing several blocks at once. Especially, due to the simplicity of the algorithm, the proposed method could be easily implemented to the system which has low capacity processor.

• Journal of Ocean Engineering and Technology
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• v.17 no.4
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• pp.73-80
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• 2003

This paper presents considerations on the results of the rotating arm test, which was carried out for assessment of an hybrid navigation system for a semi-autonomous underwater vehicle. The navigation system consists of an inertial measurement unit(IMU), an ultra-short baseline(USBL) acoustic navigation sensor and a doppler velocity log(DVL) accompanying a magnetic compass. A navigational systemmodel is derived to include the scale effect and bias errors of the DVL, of which the state equation composed of the navigation states and sensor parameters are 25 in the order. The extended Kalman filter was used to propagate the error covariance, The rotating arm tests were carried out in the Ocean Engineering Basin of KRISO, to generate circular motion. The hybrid underwater navigation system shows good tracking performance against the circular planar motion. Additionally this paper checked the effects of the sampling ratio of the navigation system and the possibility of the dead reckoning with the DVL and the magnetic compass to estimate the position of the vehicle.

• Journal of Institute of Control, Robotics and Systems
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• v.13 no.3
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• pp.249-255
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• 2007

Under the situation of a fire, it is difficult for a rescue robot to use sensors such as vision sensor, ultrasonic sensor or laser distance sensor because of diffusion, refraction or block of light and sound by dense smoke. But, braille blocks that are installed for the visaully impaired at public places such as subway stations can be used as a map for autonomous mobile robot's localization and navigation. In this paper, we developed a laser sensor stan device which can detect braille blcoks in spite of dense smoke and integrated the device to the robot developed to carry out rescue mission in various hazardous disaster areas at KIST. We implemented MCL algorithm for robot's attitude estimation according to the scanned data and transformed a braille block map to a topological map and designed a nonlinear path tracking controller for autonomous navigation. From various simulations and experiments, we could verify that the developed laser sensor device and the proposed localization method are effective to autonomous tracking of braille blocks and the autonomous navigation robot system can be used for rescue under fire.

• International Journal of Control, Automation, and Systems
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• v.1 no.1
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• pp.156-161
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• 2003

An overview of our approach to autonomous navigation is presented showing how motion information can be integrated into existing navigation schemes. Particular attention is given to our short range motion estimation scheme which utilises a number of unique assumptions regarding the nature of the visual environment allowing a direct fusion of visual and range information. Graduated non-convexity is used to solve the resulting non-convex minimisation problem. Experimental results show the advantages of our fusion technique.

• Journal of Navigation and Port Research
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• v.33 no.5
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• pp.303-308
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• 2009

Recently, unmanned systems have been studied and developed in various areas including aircrafts, automobiles and vessels. In addition, many researches about unmanned systems in Korea have been studying actively with the advancement of IT However, it is not satisfied with the result of the researches and developments. Bemuse of the reason we've here tried to make a very small USV which is a barge type. We applied the Great circle navigation calculation based on GPS to the autonomous navigation algorithm and used the LabVIEW 8.2 developed by NI corp. for programming The engine and rudder were controlled by pulse width modulation method. The engine system was composed of the DC motor and ESC(Electronic Speed Controller). It was also applied by the direct cooling system using DC motor pump. A very small USV was designed and made by ourself and it was verified the effectiveness of autonomous navigation algorithm through the tests at the sea.

• Proceedings of the Korean Institute of Navigation and Port Research Conference
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• 2022.06a
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• pp.293-294
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• 2022

In recent years, the maritime industry system including port facilities, VTS(Vessel traffic service) is rapidly evolving with the development of technology. The connection between systems has been greatly expanded, and many research cases using this connectivity have been reported. This paper deals with the structural design of the arrival/departure support system for an autonomous ship. The system requires navigation data from the autonomous ship and radar/AIS data from the port. In this paper, design result on how the arrival/departure support system interacts with the autonomous ship and port system are addressed.

• Journal of the Korean Society for Precision Engineering
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• v.12 no.1
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• pp.58-67
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• 1995

A path planning algorithm using a laser range finder are presented for real-tiem navigation of an autonomous guided vehicle. Considering that the laser range finder has the excellent resolution with respect to angular and distance measurements, a sophisticated local path planning algorithm is achieved by using the human's heuristic method. In the case of which the man knows not rhe path, but the goal direction, the man forwards to the goal direction, avoids obstacle if it appears, and selects the best pathway when there are multi-passable ways between objects. These heuristic principles are applied to the path decision of autonomous guided vehicle such as forward open, side open and no way. Also, the effectiveness of the established path planning algorithm is estimated by computer simulation in complex environment.

• Journal of Navigation and Port Research
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• v.46 no.2
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• pp.134-144
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• 2022

The development and operation of autonomous ships are spotlighted as a next-generation technology that will provide newbenefits for the maritime business during the fourth industrial revolution. To expand the adoption of autonomous ships, the much more interest of the nation and the industries will have to be changed to actual adoption in shipping companies. For this, it is judged that research to identify the factors impacting the adoption intention of autonomous ships should be preceded. However, most studies on autonomous ships have focused on developing the technology, revising the law, establishing policies, and managing human resources, with few studies on influencing factors in the adoption of autonomous ships. A model, to identify the factors that impact the intention to the adoption of autonomous ships, based on the theory of diffusion of innovation and the TOE framework was developed. The suggested model was verified through empirical analysis targeting the shipping companies and the marine industries in Korea. As the result of this study, it was found that top management support, financial slack, and competitive intensity significantly impacted the intention to adopt autonomous ships. Additionally, it was revealed that the overall awareness of autonomous ships among Korean shipping companies is poor.

• Journal of Advanced Navigation Technology
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• v.22 no.6
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• pp.507-513
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• 2018

The maritime autonomous surface ship is automatically collects and manages various information necessary for the operation to minimize human intervention and safely perform the mission assigned to the ship. And the ship may autonomously operate the partial or entire route to the destination determined by the ship himself. This ship navigation technology allows partially remote control the ship to be operated if necessary. The maritime autonomous surface ship (MASS) should collect and manage signals of various navigation communication equipments and engines mounted on the ship for safe operation. This requires a common platform technology. In this paper, we propose a common platform that is the core of smart ship implementation. Territorial authorities and ships are connected by satellite or terrestrial communication. In such a communication environment, information is exchanged smoothly in real time. This allows the onshore authorities to monitor ships and provide remote control to enable safe vessel navigation at sea.

• Journal of Advanced Navigation Technology
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• v.11 no.4
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• pp.378-387
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• 2007

In this paper, Authors develop and verify the algorithm for enhancing the performance of Unmanned vehicle's Autonomous navigation, and also propose the method of establishing much more precise Navigation locus. Unmanned vehicle has a destination, however orientation is not notified, which make it find the future orientation itself. Extended Kalman Filter make it access to the desirable direction, which coupled with INS and GPS is proposed in this paper. Sliding mode control could overcome the side slip and lateral minor movement of the vehicle. The test result would shows the effectiveness of Extended kalman filter and Slide mode control for the navigation.