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유지환(Jee-Hwan Ryu),박장식(Jang-Sik Park),Dmitry Ogay,Segey Bulavintsev,김혁(Hyuk Kim),송영욱(Young-wook Song),윤문영(Moon-Young Yoon),김재석(Jea-Seok Kim),강전진(Jeon-Jin Kang) 제어로봇시스템학회 2012 제어·로봇·시스템학회 논문지 Vol.18 No.8
This paper introduces the autonomous vehicle Pharos, which participated in the 2010 Autonomous Vehicle Competition organized by Hyundai-Kia motors. PHAROS was developed for high-speed on/off-road unmanned driving avoiding diverse patterns of obstacles. For the high speed traveling up to 60 km/h, long range terrain perception, real-time path planning and high speed vehicle motion control algorithms are developed. This paper describes the major hardware and software components of our vehicle.