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다수 레이저스캐너를 이용한 무인자율주행차량의 장애물 회피
우훈제(HoonJe Woo),김재환(JaeHwan Kim),이상훈(SangHoon Lee),김병우(ByungWoo Kim) 한국자동차공학회 2009 한국자동차공학회 부문종합 학술대회 Vol.2009 No.4
This paper describes a system for estimating various driving environments using multiple laser measurement scanners (LMS) which are part of the obstacle estimation system on an Unmanned Ground Vehicle (UGV). An LMS is an important and popular sensor for obstacle and terrain detection on a UGV system. The obstacle and terrain detection system is a critical system for a UGV to reach its final goal point. The obstacle and terrain detection system implemented consists of one processing unit and six laser scanners. In this paper, the UGV system configuration will be introduced and obstacles avoidance using fused data from all of the laser scanners will be explained.
RTK-GPS 기반의 무인차량 항법 알고리즘에 대한 연구
우훈제(HoonJe Woo),정승권(SeungKwon Jung),조봉근(BongGeun Cho),김정하(JungHa Kim) 한국자동차공학회 2009 한국자동차공학회 부문종합 학술대회 Vol.2009 No.4
This research proposes a navigation algorithm using RTK-GPS units and encoders. GPS systems sometimes lose their signals and receive inaccurate position data due to many factors, such as obstructions. This paper shows that GPS failure can be solved by using a DR (dead reckoning) navigation method with encoders and that position errors can be decreased by using RTK-GPS units. In addition to this method, new way point update algorithm and steering algorithm using RTK-GPS units will be introduced.
우훈제(HoonJe Woo),박상배(SangBae Park),조경환(KyungHwan Cho),김병우,JungHa Kim 한국자동차공학회 2009 한국자동차공학회 부문종합 학술대회 Vol.2009 No.4
This paper introduces an optimal local and global path planning algorithm through analyzing and researching various algorithms used in DARPA Urban Challenge 2007 and making a numerical statement about each algorithm. The top eleven teams that passed the NQE (National Qualifying Event) used Dijkstra, A<SUP>*</SUP>, D<SUP>*</SUP> and RRTs. Therefore, this research will focus on those algorithms and research a method to apply an optimal path planning algorithm.
자동 발렛 파킹을 위한 테스트 플랫폼 설계 및 주행 검증
우훈제(HoonJe Woo),손성효(SungHyo Son),문희창(HeeChang Moon),성경복(KyungBok Sung),김정하(JungHa Kim) 한국자동차공학회 2011 한국자동차공학회 부문종합 학술대회 Vol.2011 No.5
This paper introduces an automated valet parking system (AVP) which applies an autonomous driving concept into the current parking assistant system (PAS). The present commercial PAS technology is limited into vehicle. It means vehicle only senses and controls by and for itself to assist the parking. Therefore, the present PAS is restricted to simple parking events. But AVP includes wider parking events and planning because it uses infra-sensor network as well as vehicle sensor. For the realization of AVP, the commercial steering system of a compact vehicle was modified into steer-by-wire structure and various sensors like LRF (Long Range Finder) and camera were installed in a parking area. And local & global server decides where and when the vehicle can go and park in the testing area after recognized the status of environment and vehicle from those sensors. GPS solution was used to validate the AVP performance. More various parking situations, vehicles and obstacles will be considered in the next research stages based on these results. And we expect this AVP solution with more intelligent vehicles can be applied in a big parking lot like a market, an amusement park, etc.