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곽경운,정해관,최덕선,박용운,곽윤근,김수현,Kwak, Kyung-Woon,Jeong, Hae-Kwan,Choe, Tok-Son,Park, Yong-Woon,Kwak, Yoon-Keun,Kim, Soo-Hyun 한국군사과학기술학회 2010 한국군사과학기술학회지 Vol.13 No.6
An optimal path generation method considering the safety of UGV(Unmanned Ground Vehicle) is proposed and demonstrated through examples. Among various functions of UGV, real-time obstacle avoidance is a key issue to realize realistic scenario in FCS(Future Combat Systems). A two-dimensional narrow corridor environment is considered as a test field. For each step of UGV movement, two objectives are considered: One is to minimize the distance to the target and the other to maximize the distance to the nearest point of an obstacle. A weighted objective function is used in the optimization problem. Equality and inequality constraints are taken to secure the UGV's dynamics and safety. The weighting factors are controlled by a fuzzy controller which is constructed by a fuzzy rule set and membership functions. Simulations are performed for two cases. First the weighting factors are considered as constant values to understand the characteristics of the corresponding solutions and then as variables that are adjusted by the fuzzy controller. The results are satisfactory for realistic situations considered. The proposed optimal path generation with the fuzzy control is expected to be well applicable to real environment.
Virtual Tangential Vector와 퍼지 제어를 이용한 준 3차원 경로계획
곽경운,정해관,김수현 한국로봇학회 2010 로봇학회 논문지 Vol.5 No.2
In this paper, a hybrid semi-3D path planning algorithm combining Virtual Tangential Vector(VTV) and fuzzy control is proposed. 3D dynamic environmental factors are reflected to the 2D path planning model, VTV. As a result, the robot can control direction from 2D path planning algorithm VTV and speed as well depending on the fuzzy inputs such as the distance between the robot and obstacle, roughness and slope. Performances and feasibilities of the suggested method are demonstrated by using Matlab simulations. Simulation results show that fuzzy rules and obstacle avoidance methods are working properly toward virtual 3D environments. The proposed hybrid semi-3D path planning is expected to be well applicable to a real life environment, considering its simplicity and realistic nature of the dynamic factors included.
곽경운(Kyung Woon Kwak),김경수(Kyung Soo Kim),김수현(Soohyun Kim) 제어로봇시스템학회 2011 제어로봇시스템학회 합동학술대회 논문집 Vol.1 No.1
An optimal path generation method of UGV(Unmanned Ground Vehicle) on real-time environment is proposed and demonstrated through MATLAB simulations. Among various functions of UGV. real time obstacle avoidance is a key issue to realize realistic scenario in FCS (Future Combat Systems). A narrow corridor like environment is considered as a simulation. For each step of UGV movement, three objectives are considered : First is to minimize the distance to the target, second to drive the UGV as the shortest free space and third to generate tangential direction to the obstacle. A weighted objective function is used in the optimization problem. Equality and inequality constraints are taken to secure the UGV’s dynamics and safey. The weighting factors are controlled by the fuzzy controller which is constructed by a fuzzy rule set and membership functions. Simulations are performed for messy environment and narrow corridor like case. The results are satisfactory for realistic situations considered. The proposed optimal path generation method with the fuzzy controller is expected to be well applicable to real environment.
곽경운(Kyung Woon Kwak),정원석(Wonsuk Jung),이병호(Byoung Ho Lee),최지호(Ji Ho Choi),김수현(Soohyun Kim) 대한기계학회 2009 대한기계학회 춘추학술대회 Vol.2009 No.11
The future mode of combat will be much different from the present one especially in tracking information and in disturbing communication to neutralize the enemy as equipments and technologies evolve. One is satellite communications. To reliably transmit and receive signals from a satellite, the antenna must keep a stable precise direction. In this paper we propose an antenna mechanism and control system for an off-road vehicle. For the test in a laboratory environment, the antenna disturbance is gathered by IMU(Inertia Measurement Unit) and acceleration sensor based on pre-specified data obtained from an off-road condition. The simulation by using RecurDyn antenna model and Matlab Simulink control model has demonstrated that the antenna is well tracking the satellite.
Auto-positioning of Sliding Planes Based on Virtual Force
김은호,곽경운,김영국,김수현,곽병만,장인권,김경수 제어·로봇·시스템학회 2013 International Journal of Control, Automation, and Vol.11 No.4
In this paper, an auto-positioning algorithm for sliding planes is newly proposed in two different forms: the General Virtual Force Algorithm (GVFA) and the Applied Virtual Force Algorithm (AVFA). The proposed algorithm is then applied to an auto-positioning spreader which can slide on the top surface of a container with 3 degrees of freedom (DOF). This enables the spreader to handle containers even on a wavy open sea, where the inevitable swinging motion of a spreader leads to significant misalignment from the container during landing. With numerical simulation and experiments using a 1/20 scale model, it is verified that the proposed algorithms provide a robust and reliable solution for in-plane path-finding. Considering the limited space and cost for sensor equipment, however, using AVFA with 8 sensors can be a better solution for an actual application regardless of the slight sacrifice in performance in terms of operation time and energy consumed.
2차원 레이저 스캔을 이용한 로봇의 산악 주행 장애물 판단
김민희,곽경운,김수현,Kim, Min-Hee,Kwak, Kyung-Woon,Kim, Soo-Hyun 한국군사과학기술학회 2012 한국군사과학기술학회지 Vol.15 No.1
Obstacle detection is much studied by using sensors such as laser, vision, radar and ultrasonic in path planning for UGV(Unmanned Ground Vehicle), but not much reported about its characterization. In this paper not only an obstacle classification method using 2-dimensional LMS(Laser Measurement System) but also a decision making method whether to avoid or traverse the obstacle is proposed. The basic idea of decision making is to classify the characteristics by 2D laser scanned data and intensity data. Roughness features are obtained by range data using a simple linear regression model. The standard deviations of roughness and intensity data are used as measures for decision making by comparing with those of reference data. The obstacle classification and decision making for the UGV can facilitate a short path to the target position and the survivability of the robot.