• Title/Summary/Keyword: high speed autonomous navigation

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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.

Efficient navigation of mobile robot based on the robot's experience in human co-existing environment

  • Choi, Jae-Sik;Chung, Woo-Jin;Song, Jae-Bok
    • 제어로봇시스템학회:학술대회논문집
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    • 2005.06a
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    • pp.2024-2029
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    • 2005
  • In this paper, it is shown how a mobile robot can navigate with high speed in dynamic real environment. In order to achieve high speed and safe navigation, a robot collects environmental information. A robot empirically memorizes locations of high risk due to the abrupt appearance of dynamic obstacles. After collecting sufficient data, a robot navigates in high speed in safe regions. This fact implies that the robot accumulates location dependent environmental information and the robot exploits its experiences in order to improve its navigation performance. This paper proposes a computational scheme how a robot can distinguish regions of high risk. Then, we focus on velocity control in order to achieve high speed navigation. The proposed scheme is experimentally tested in real office building. The experimental results clearly show that the proposed scheme is useful for improving a performance of autonomous navigation. Although the scope of this paper is limited to the velocity control in order to deal with unexpected obstacles, this paper points out a new direction towards the intelligent behavior control of autonomous robots based on the robot's experience.

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Implementation of Hybrid System Controller for High-Speed Indoor Navigation of Mobile Robot System Using the Ultra-Sonic Sensors (초음파 센서를 이용한 이동 로봇 시스템의 고속 실내 주행을 위한 하이브리드 시스템 제어기의 구현)

  • Im, Mi-Seop;Im, Jun-Hong;O, Sang-Rok;Yu, Beom-Jae;Yun, In-Sik
    • Journal of Institute of Control, Robotics and Systems
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    • v.7 no.9
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    • pp.774-782
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    • 2001
  • In this paper, we propose a new approach to the autonomous and high-speed indoor navigation of wheeled mobile robots using hybrid system controller. The hierarchical structure of hybrid system presented consists of high-level reasoning process and the low-level motion control process and the environmental interaction. In a discrete event system, the discrete states are defined by the user-defined constraints and the reference motion commands are specified in the abstracted motions. The hybrid control system applied for the nonholonomic mobile robots can combine the motion planning and autonomous navigation with obstacle avoidance in the indoor navigation problem. For the evaluation of the proposed algorithm, the algorithm is implemented to the two-wheel driven mobile robot system. The experimental results show that the hybrid system approach is an effective method for the autonomous navigation in indoor environments.

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A Study on the Architecture Design and Implementation for High Speed Autonomous Vehicle in Rough Terrain (야지환경에서 고속 무인자율차량의 아키텍처 설계 및 구현에 관한 연구)

  • Lee, Tae Hyung;Kim, Jun;Choi, Ji Hoon
    • Journal of the Korean Society of Systems Engineering
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    • v.15 no.2
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    • pp.1-8
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    • 2019
  • Autonomous vehicles operated in the rough terrain environment must satisfy various technical requirements in order to improve the speed. Therefore, in order to design and implement a technical architecture that satisfies the requirements for speed improvement of autonomous vehicles, it is necessary to consider the overall technology of hardware and software to be mounted. In this study, the technical architecture of the autonomous vehicle operating in the rough terrain environment is presented. In order to realize high speed driving in pavement driving environment and other environment, it should be designed to improve the fast and accurate recognition performance and collect high quality database. and it should be determined the correct running speed from the running ability analysis and the frictional force estimation on the running road. We also improved synchronization performance by providing precise navigation information(time) to each hardware and software.

Development of Vision-based Lateral Control System for an Autonomous Navigation Vehicle (자율주행차량을 위한 비젼 기반의 횡방향 제어 시스템 개발)

  • Rho Kwanghyun;Steux Bruno
    • Transactions of the Korean Society of Automotive Engineers
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    • v.13 no.4
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    • pp.19-25
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    • 2005
  • This paper presents a lateral control system for the autonomous navigation vehicle that was developed and tested by Robotics Centre of Ecole des Mines do Paris in France. A robust lane detection algorithm was developed for detecting different types of lane marker in the images taken by a CCD camera mounted on the vehicle. $^{RT}Maps$ that is a software framework far developing vision and data fusion applications, especially in a car was used for implementing lane detection and lateral control. The lateral control has been tested on the urban road in Paris and the demonstration has been shown to the public during IEEE Intelligent Vehicle Symposium 2002. Over 100 people experienced the automatic lateral control. The demo vehicle could run at a speed of 130km1h in the straight road and 50km/h in high curvature road stably.

An Estimation Method of Drivable Path for Unmanned Ground Vehicle Using Camera and 2D Laser Rangefinder on Unpaved Road (카메라와 2차원 레이저 거리센서를 활용한 비포장 도로 환경에서의 지상무인차량의 주행가능영역 추정 기법)

  • Ahn, Seong-Yong;Kim, Chong-Hui;Choe, Tok-Son;Park, Yong-Woon
    • Journal of the Korea Institute of Military Science and Technology
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    • v.14 no.6
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    • pp.993-1001
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    • 2011
  • Unmanned ground vehicle for facility protection mostly uses model of territory for autonomous navigation. However, modeling of territory using several sensors is highly time consuming and sometimes inefficient for road application. Therefore, an estimation of drivable path based on features of road is required for high speed autonomous navigation on road. In this paper, an estimation method of drivable path using camera and 2D laser rangefinder is proposed. First, a vanishing point is estimated based on image data from CCD camera. Second, a road width is estimated based on range data from 2D laser rangefinder. Finally, the drivable path is estimated by fusing the vanishing point and the road width. The proposed method is tested on both well-structured road and unpaved road like cross-country situation.

Measurement of Moving Object Velocity and Angle in a Quasi-Static Underwater Environment Through Simulation Data and Spherical Convolution (시뮬레이션 데이터와 Spherical Convolution을 통한 준 정적인 수중환경에서의 이동체 속도 및 각도 측정)

  • Baegeun Yoon;Jinhyun Kim
    • The Journal of Korea Robotics Society
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    • v.18 no.1
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    • pp.53-58
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    • 2023
  • In general, in order to operate an autonomous underwater vehicle (AUV) in an underwater environment, a navigation system such as a Doppler Log (DVL) using a Doppler phenomenon of ultrasonic waves is used for speed and direction estimation. However, most of the ultrasonic sensors in underwater is large for long-distance sensing and the cost is very high. In this study, not only canal neuromast on the fish's lateral lines but also superficial neuromast are studied on the simulation to obtain pressure values for each pressure sensor, and the obtained pressure data is supervised using spherical CNN. To this end, through supervised learning using pressure data obtained from a pressure sensor attached to an underwater vehicle, we can estimate the speed and angle of the underwater vehicle in a quasi-static underwater environment and propose a method for a non-ultrasonic based navigation system.

Development of an Autonomous Vehicle: A1 (자율주행자동차 개발: A1)

  • Chu, Keon-Yup;Han, Jae-Hyun;Lee, Min-Chae;Kim, Dong-Chul;Jo, Ki-Chun;Oh, Dong-Eon;Yoon, E-Nae;Gwak, Myeong-Gi;Han, Kwang-Jin;Lee, Dong-Hwi;Choe, Byung-Do;Kim, Yang-Soo;Lee, Kang-Yoon;Huh, Kun-Soo;SunWoo, Myoung-Ho
    • Transactions of the Korean Society of Automotive Engineers
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    • v.19 no.4
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    • pp.146-154
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    • 2011
  • This article describes the Autonomous Vehicle #1 (A1), which won the 2010 Autonomous Vehicle Competition (AVC) organized by Hyundai Kia automotive group. The A1 was developed for high speed and stable driving without human intervention. The autonomous system of A1 was developed based on in-vehicle networks, electronic control units, and embedded software. Novel environment perception and navigation algorithm were evaluated and validated through the AVC. In this paper, we presented the system and software architecture of A1.

Active omni-directional range sensor for mobile robot navigation (이동 로봇의 자율주행을 위한 전방향 능동거리 센서)

  • 정인수;조형석
    • 제어로봇시스템학회:학술대회논문집
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    • 1996.10b
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    • pp.824-827
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    • 1996
  • Most autonomous mobile robots view things only in front of them. As a result, they may collide against objects moving from the side or behind. To overcome the problem we have built an Active Omni-directional Range Sensor that can obtain omnidirectional depth data by a laser conic plane and a conic mirror. In the navigation of the mobile robot, the proposed sensor system makes a laser conic plane by rotating the laser point source at high speed and achieves two dimensional depth map, in real time, once an image capture. The experimental results show that the proposed sensor system provides the best potential for navigation of the mobile robot in uncertain environment.

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Two-Dimensional Depth Data Measurement using an Active Omni-Directional Range Sensor (전방향 능동 거리 센서를 이용한 2차원 거리 측정)

  • Joung, In-Soo;Cho, Hyung-Suck
    • Journal of Institute of Control, Robotics and Systems
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    • v.5 no.4
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    • pp.437-445
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    • 1999
  • Most autonomous mobile robots view only things in front of then, and as a result, they may collide with objects moving from the side or behind. To overcome this problem, an active omni-directional range sensor system has been built that can obtain an omni-directional depth map through the use of a laser conic plane and a conic mirror. In the navigation of the mobile robot, the proposed sensor system produces a laser conic plane by rotating the laser point source at high speed: this creates a two-dimensional depth map, in real time, once an image is captured. The results obtained from experiment show that the proposed sensor system is very efficient, and can be utilized for navigation of mobile robot in an unknown environment.

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