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무인 자율 주행 차량 시스템 설계 및 제어에 관한 연구
문희창(Hee-Chang Moon),박명욱(Myung-Wook Park),김정하(Jung-Ha Kim) 제어로봇시스템학회 2010 제어·로봇·시스템학회 논문지 Vol.16 No.5
The research presented covers the design and control method of unmanned ground vehicle (UGV). An electric vehicle is used and is driven by DC motor. The power system on the UGV has been adjusted and actuators have been installed for steering and brake automation. A toggle switch is implemented to easily switch between manual and autonomous states. The UGV state is monitored by a velocity sensor, as well as steering and brake position sensors. An emergency stop device was designed and installed to quickly and safely stop the UGV. Different control methods, including the PID controller, were studied for improved steering responsiveness, and results were confirmed through experimentation. Satisfactory performance was achieved and several possible areas of future research have arisen.
문희창(Hee Chang Moon),남일진(Il Jin Nam),김정하(Jung Ha Kim) 한국자동차공학회 2005 한국자동차공학회 춘 추계 학술대회 논문집 Vol.2005 No.5_1
This paper deals with unmanned vehicle system composition and system operating test. Nowadays the research of unmanned vehicle and intelligent vehicle is increased. Especially universities and research institutes are studying unmanned vehicle system for using it to use military equipment. Generally unmanned vehicle system is compose of several system such as vehicle control system, vision system, obstacle detecting system, global positioning system, and tele-operated system. Till now, we developed each system and test it. In this paper, we explain each system of unmanned vehicle, unification method of each system and the joint reference architecture for unmanned system.
문희창(Hee Chang Moon),손영진(Young Jin Son),김정하(Jung Ha Kim) 제어로봇시스템학회 2008 제어·로봇·시스템학회 논문지 Vol.14 No.1
A navigation system is one of the important components of an unmanned ground vehicle (UGV). A GPS receiver collects data signals transmitted by (Earth orbiting) satellites. However, these data signals may contain many errors resulting misinformation and depending on one"s position (environment), reception may be impossible. The proposed self-driven algorithm uses three low-cost GPS in order to minimize errors of existing inexpensive single GPS"s driving algorithm. By using reliable final data, which is analyzed and combined from each of three GPS"s received data signals, gathering a vehicle"s steering performance information and its current pin-point position is improved even with error containing signals or from a place where signal gathering is impossible. The purpose of this thesis is to explain navigation system algorithm using multiple GPS and compass sensor and prove the algorithm through experiments.
문희창(Hee Chang Moon),손영진(Young Jin Son),김정하(Jung Ha Kim) 제어로봇시스템학회 2008 제어·로봇·시스템학회 논문지 Vol.14 No.8
This paper describes a vehicle low speed driving assistant (VLDA) system that is composed of laser scanner. This vehicle is designed for following lead vehicle (LV) without driver’s operation. The system is made up several component systems that are based on unmanned ground vehicle (UGV). Each component system is applied to use advanced safety vehicle developed to complete UGV system. VLDA system was divided into vehicle control system and obstacle detecting system. The obstacle detecting system calculate distance and angle of LV and transmit these data to vehicle control system using front, left and right laser scanners. Vehicle control system makes vehicle control values such as steering angle, acceleration and brake position and control vehicle’s movement with steering, acceleration and brake actuators. In this research, we designed VLDA system like as low speed cruise control system and test it on real road environments.
무인자율주행차량의 시스템 아키텍처 및 통신 프로토콜 설계
문희창(Hee Chang Moon),우훈제(Hoon Je Woo),김정하(Jung Ha Kim) 제어로봇시스템학회 2008 제어·로봇·시스템학회 논문지 Vol.14 No.9
This paper deals with the peer-to-peer data communication to connect each of distributed levels of developed unmanned system according to the JAUS. The JAUS is to support the acquisition of unmanned system by providing a mechanism for reducing system life-cycle costs. Each of distributed levels of the JAUS protocol divides into a system, some of subsystems, nodes and components/instances, each of which may be independent or interdependence. We have to distribute each of the levels because high performance is supported in order to create several sub-processor computing data in one processor with high CPU speed performance. To complement such disadvantage, we must think the concept that a distributed processing agrees with separating each of levels from the JAUS protocol. Therefore, each of distributed independent levels send data to another level and then it has to be able to process the received data in other levels. So, peer-to-peer communication has to control a data flow of distributed levels. In this research, we explain each of levels of the JAUS and peer-to-peer communication structure among the levels using our developed unmanned ground vehicle.
레이저스캐너를 이용한 무인자동차의 장애물인식 시스템 설계
문희창(Hee Chang Moon),손영진(Young Jin Son),김정하(Jung Ha Kim) 제어로봇시스템학회 2008 제어·로봇·시스템학회 논문지 Vol.14 No.8
This paper describes an obstacle detecting system of an unmanned ground vehicle (DGV). The unmanned ground vehicle is consists of several systems such as vehicle control system, navigation system, obstacle detecting system and integration system. Among these systems, the obstacle detecting system is a driving assistance system of UGV. Through the UGV is driving, the system detects obstacles such as cars, human, tree, curb and hills and then send information of obstacles position to integration system for safety driving. In this research, the obstacle detecting system is composed of 5 laser scanners and develop algorithms of detecting obstacles, curb, uphill and downhill road.
JAUS를 따른 무인 시스템 제어를 위한 peer-to-peer 데이터 통신
문희창(Hee-Chang Moon),우훈제(Hoon-Je Woo),김정하(Jung-Ha Kim) 한국자동차공학회 2006 한국자동차공학회 Symposium Vol.- No.-
This paper deals with the peer-to-peer (P2P) data communication to connect each of distributed levels of developed unmanned ground vehicle (UGV) according to the JAUS protocol. Each of distributed levels of the JAUS protocol divides into a system, some of subsystems, nodes, and components/instances, each of which may be independent or interdependence. Each of levels must require high performance to process data with high speed. Therefore, each of distributed independent levels send data to another level and then it has to be able to process the received data in other levels, Then, P2P communication has to control data flow of distributed levels. In this research, we explain each of levels of the JAUS and P2P structure among the levels using our developed UGV.
우훈제(Hoon-Je Woo),문희창(Hee-Chang Moon),김정하(Jung-Ha Kim) 한국자동차공학회 2008 한국자동차공학회 춘 추계 학술대회 논문집 Vol.- No.-
This paper shows a method of multiple communication to be connected each of distributed levels of developed unmanned vehicle system according to the JAUS. Each of distributed levels of the JAUS hierarchy divides into a system, some of subsytem, nodes, and components/instances below a system, each of which may be independet or interdependence. Each of levels must require a method of communication to porcess data with high speed. However, a device or a method of communication interface what each of distributed independent levels request and receive a data to another level is different. Thereupon, we will show a reference of using JAUS messages what it are able to communicate between distributed levels in an unmanned vehicle system, and what is the JAUS hierarchy.
C-EPS (C-type Electric Power Steering) 시뮬레이터 설계 및 제어 알고리즘 개발
박명욱(Myung-Wook Park),문희창(Hee-Chang Moon),김정하(Jung-Ha Kim),Carl D. Crane III 제어로봇시스템학회 2010 제어·로봇·시스템학회 논문지 Vol.16 No.6
EPS (Electric Power Steering) is important device for improving vehicle"s dynamics and static performances. This paper deals with simulator design for C-EPS (Colum type-EPS), development assist and returnability control algorithm. First, C-EPS system model was simply designed because EPS system is complex control system that has many unknown variables. These parameters were simplified through assumptions. Second, C-EPS simulator was designed for development of control algorithm. This simulator has SAS (Steering Angle Sensor), dual torque sensor, dual load cell for measuring rack force, dual linear actuator for generating tire force and Data Acquisition System. Using this simulator, control methods ware tested. Third, control algorithm was designed for torque assist and returnability. Assist torque map and returnability torque map were found by lots of simulation test. These torque maps were tuned for EPS actuator control. The simulation result was compared with non-EPS system result. In this research, the C-EPS simulator was designed for development of control algorithm about torque assistant and returnability. Using this simulator, control algorithm was improved.
2005 DARPA Grand Challenge & Formula SAE 소개
남일진(Il Jin Nam),문희창(Hee Chang Moon),김정하(Jung Ha Kim) 한국자동차공학회 2005 한국자동차공학회 Symposium Vol.- No.-
The Defense Advanced Research Projects Agency (DARPA) intends to conduct a race of autonomous ground vehicles from the vicinity of Los Angeles, CA to Las Vegas, NV. A cash prize will be awarded to the winner. The course will feature both on-road and off-road portions and will include extremely rugged, challenging terrain and obstacles. The purpose of the race is to stimulate interest in and encourage the accelerated development of autonomous ground vehicle technologies that could be used by the US military. The other subject is Formula SAE. The Formula SAE® competition is for SAE student members to conceive, design, fabricate, and compete with small formula-style racing cars. The restrictions on the car frame and engine are limited so that the knowledge, creativity, and imagination of the students are challenged. The cars are built with a team effort over a period of about one year and are taken to the annual competition for judging and comparison with approximately 120 other vehicles from colleges and universities throughout the world. The end result is a great experience for young engineers in a meaningful engineering project as well as the opportunity of working in a dedicated team effort.