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Vehicle-to-Infrastructure (V2I) 정보 연동 실내 자율발렛주차 시스템
김민수(Minsoo Kim),안준우(Joonwoo Ahn),이양우(Yangwoo Lee),박재흥(Jaeheung Park) 한국자동차공학회 2022 한국자동차공학회 부문종합 학술대회 Vol.2022 No.6
In this paper, we propose the autonomous valet parking system with vehicle-to-infrastructure (V2I) communications for indoor parking. The proposed system utilizes V2I communications to obtain a navigation plan. It includes the vehicle’s position and information about which direction to head at each intersection. With only this navigation plan, the autonomous vehicle avoids obstacles and drives in response to an intersection. The experimental results showed that, with the proposed system, the vehicle achieves efficient and safe navigation and successfully parks at a real indoor parking environment.
안준우(Joonwoo Ahn),김민수(Minsoo Kim),임규범(GyuBeom Im),김민성(Minsung Kim),박재흥(Jaeheung Park) 한국자동차공학회 2018 한국자동차공학회 학술대회 및 전시회 Vol.2018 No.11
In this paper, we propose an efficient and safe method for autonomous valet parking system with a driving strategy considering uncertain environment in parking spaces. The proposed method consists of a vehicle controller with decision-making algorithms, a global and local path generation algorithm, and a three-dimensional LiDAR-based parking lot detection algorithm. The proposed method was validated via simulation results.
수직 주차에서 AVM을 이용한 동시적 위치추정 및 지도 생성
안찬우(Chanwoo Ahn),박재흥(Jaeheung Park) 한국자동차공학회 2020 한국자동차공학회 학술대회 및 전시회 Vol.2020 No.11
In this paper, we propose a Simultaeneous Localization And Mapping(SLAM) method for vertical parking scenario. Most commercial car uses ultrasonic sensor to localize vehicle’s position in parking lot. However, vehicle cannot be localized when there are not any obstacles around ego vehicle. The proposed method uses simple features from parking lines and localizes vehicle’s position without any assumption about obstacles around ego vehicle using only Around View Monitor(AVM). At first, cross point is proposed as a feature which can be used for tracking. Cross points on parking lines are detected using Deep Learning and parking lines are extracted using RANSAC and Canny Edge. Using detected cross points and parking lines, relative poses between frames are tracked using Iterative Closeset Point(ICP) and landmark based localization. Global position of detected cross point is used as landmark’s position and position of intersection from detected lines is used as local position of the corresponding cross point. Using landmark based localization, relative poses are calculated and accumulated errors are recovered. From above method, we build a 2D map which is continuously optimized. We evaluated our proposed approach on our own dataset and compared our result with LOAM(Lidar Odometry and Mapping in Real-time).
자동 전진 후진 전환 지점 선택 알고리즘을 이용한 모델 예측 제어 기반 자율 주차 알고리즘
김민성(Minsung Kim),임규범(GyuBeom Im),안준우(Joonwoo Ahn),김민수(Minsoo Kim),박재흥(Jaeheung Park) 한국자동차공학회 2018 한국자동차공학회 학술대회 및 전시회 Vol.2018 No.11
In this paper, we propose a method for autonomous parking algorithm using automatic selection of forward and backward switching points via model predictive control. An optimized switching point can be calculated by the comparison between forward and backward driving costs. The proposed method was validated by V-rep based simulation environment.
샘플링 기반 경로 계획과 모델 예측 제어를 이용한 자율 주차 시스템
김민성(Minsung Kim),박재흥(Jaeheung Park) 한국자동차공학회 2018 한국자동차공학회 부문종합 학술대회 Vol.2018 No.6
In this paper, we propose a path planning and a path following method for the autonomous parking system. In order to consider the non-holonomic constraint of a vehicle, RRT star is used to plan paths. Model predictive control with the vehicle kinematic model is proposed to follow the path. To realize the autonomous parking system, we also consider the path re-planning at the point where forward and reverse paths are switched. The proposed method was validated via simulation results.
주차환경에서 자율 주행 차량 실험을 위한 V-Rep 기반 시뮬레이터
임규범(GyuBeom Im),김민성(Minsung Kim),안준우(Joonwoo Ahn),김민수(Minsoo Kim),박재흥(Jaeheung Park) 한국자동차공학회 2018 한국자동차공학회 학술대회 및 전시회 Vol.2018 No.11
We propose a V-Rep vehicle simulator for autonomous vehicle testing in parking lot environment. When we validate a new algorithm or method in the real world, it could be dangerous and lead to safety accident or emergency situation. Therefore, it is beneficial to validate a new algorithm in a virtual simulator before doing in the real world. V-Rep simulator is a popularly used robot simulator. We can create our test environment and validate some algorithms using this simulator. And V-Rep is enable to interact with ROS (Robot Operating System) as a part of virtual parking lot environment. In this paper, we explain how to set up a parking lot environment and an autonomous vehicle model. And we explain how to validate planning, control algorithms using V-Rep and ROS.
최소침습술을 위한 의료용 인스트루먼트의 동작 성능 향상
박현준(Hyeonjun Park),원종석(Jongseok Won),박재흥(Jaeheung Park) 제어로봇시스템학회 2013 제어·로봇·시스템학회 논문지 Vol.19 No.12
This paper presents feedforward controllers to improve the control performance of the motion and grasping force of a surgical instrument used in an MIS (Minimally Invasive Surgery) robot. The surgical instrument has a long distance between the drive motors and its active joints. Therefore, the gripper on the instrument is controlled by a cable drive mechanism, which generates a coupled motion between the wrist joint and the grip direction. In order to solve the problem, this paper analyzes the pulley composition of the surgical instrument and proposes feedforward controllers to eliminate the coupled motion. Furthermore, feedforward controllers to regulate the grasping force are proposed to deal with another coupling problem between the grasping force of the instrument and the motion of the instrument joints. The experimental results demonstrate the improved control performance of the motion and grasping force of the instrument.