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TruckMaker 비포장도로 자율주행 기능 검증을 위한 Closed Loop Test용 시뮬레이터 구현
최덕선(TokSon Choe),홍성일(Seong Il Hong),김준(Jun Kim),추증호(Jeung Ho Chu) 대한전자공학회 2020 대한전자공학회 학술대회 Vol.2020 No.11
This paper describes the results of implementing a simulator for a closed loop test to verify autonomous navigation function in an unpaved road environment. The simulator is implemented based on TruckMaker. In detail, a virtual environment and sensors(3D LIDAR, 2D LIDAR, RADAR, Camera) to modeling environment are included. A dynamic model and navigation information to control a virtual unmanned ground vehicle are also implemented. Through this simulator, the autonomous navigation software under development is established this closed loop test environment.
신종호(Jongho Shin),최덕선(Tokson Choe),강창묵(Changmook Kang),이태형(Taehyung Lee),곽기호(Kiho Kwak) 대한전자공학회 2018 대한전자공학회 학술대회 Vol.2018 No.6
This study explores a collision avoidance method for an unmanned ground vehicle (UGV). To develop the method, model predictive control framework is employed. With the philosophy of the model predictive control, the collision avoidance problem is formulated as a finite horizon optimal control problem. The solution of the collision avoidance problem is defined as path set the UGV follows and obtained by a particle swarm optimization (PSO) method. In addition, the model predictive path planning method for the collision avoidance is incorporated with the passivity constraint to assure the convergence of the UGV to a given goal point even during the collision avoidance maneuvering. To validate the performance of the proposed method, several experiments are conducted and the results are analyzed.