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최덕선,안성용,박용운,Choe, Tok-Son,Ahn, Seong-Yong,Park, Yong-Woon 한국군사과학기술학회 2010 한국군사과학기술학회지 Vol.13 No.6
For the autonomous navigation of an unmanned ground vehicle in the rough terrain and combat, the dust environment should necessarily be overcome. Therefore, we propose a robust obstacle detection methodology using laser range sensor and radar. Laser range sensor has a good angle and distance accuracy, however, it has a weakness in the dust environment. On the other hand, radar has not better the angle and distance accuracy than laser range sensor, it has a robustness in the dust environment. Using these characteristics of laser range sensor and radar, we use laser range sensor as a main sensor for normal times and radar as a assist sensor for the dust environment. For fusion of laser range sensor and radar information, the angle and distance data of the laser range sensor and radar are separately transformed to the angle and distance data of virtual range sensor which is located in the center of the vehicle. Through distance comparison of laser range sensor and radar in the same angle, the distance data of a fused virtual range sensor are changed to the distance data of the laser range sensor, if the distance of laser range sensor and radar are similar. In the other case, the distance data of the fused virtual range sensor are changed to the distance data of the radar. The suggested methodology is verified by real experiment.
비평지 및 먼지 환경에서 1차원 가상힘장 알고리즘의 실험적 검증
최덕선,주상현,박용운,박진배,Choe, Tok Son,Joo, Sang-Hyun,Park, Yong-Woon,Park, Jin-Bae 한국군사과학기술학회 2017 한국군사과학기술학회지 Vol.20 No.5
In this paper, we deal with the experimental verification of 1D virtual force field algorithm based reflexive local path planning on uneven and dusty environment. The existing obstacle detection method on uneven and dusty environment and 1D virtual force field based reflexive local path planning algorithm simply are introduced. Although the 1D virtual force field algorithm is verified by various simulations, additional efforts are needed to verify this algorithm in the real-world. The introduced methods are combined with each other, installed to real mobile platforms and verified by various real experiments.
최덕선(Tok Son Choe),주상현(Sang Hyun Joo),박용운(Yong Woon Park),박진배(Jin Bae Park) 대한전기학회 2016 전기학회논문지 Vol.65 No.2
We propose an obstacle detection algorithm for unmanned ground vehicle on uneven terrain. The key ideas of the proposed algorithm are the use of two-layer laser range data to calculate the gradient of a target, which is characterized as either ground or obstacles. The proposed obstacle detection algorithm includes 4-steps: 1) Obtain the distance data for each angle from multiple lidars or a multi-layer scan lidar. 2) Calcualate the gradient for each angle of the uneven terrain. 3) Determine ground or obstacle for each angle on the basis of reference gradient. 4) Generate a new distance data for each angle for a virtual laser scanner. The proposed algorithm is verified by various experiments.
야지 주행 무인지상차량을 위한 3D 라이다 기반 지면 및 장애물 탐지에 대한 연구
최덕선(Choe, Tok Son),심성대(Sim, Sungdae),민지홍(Min, Jihong) 대한기계학회 2016 대한기계학회 춘추학술대회 Vol.2016 No.12
In this paper, we propose a 3D LIDAR based-obstacle and ground detection algorithm for unmanned ground vehicles driving on rough terrain. We use the Velodyne HDL-32E which is a 32 laser 3D (360°×41.33°) scanning LIDAR. By using the vertical scanning mechanism of this 3D LIDAR, we calculate the gradient of the terrain. For real-time applications, we develop the obstacle and ground detection algorithm by using this gradient. The algorithm is verified by various real experiments.
지도 정보를 활용한 저사양 GPS의 위치 정확도 향상 기법
최덕선(Tok Son Choe),강정민(Jung Min Kang),김한솔(Han Sol Kim),박진배(Jin Bae Park) 대한전기학회 2016 전기학회논문지 Vol.65 No.4
In this paper, we propose a novel position accuracy enhancement method of a low-end GPS using digital map information. The latest digital map has various kinds of information on geographical features. The proposed method uses position information of lane marks among the geographical features. We define the position information of lane marks as the reference points. The position information of a low-end GPS acquired for a period of time is defined as the source points. In the proposed method, rotation and translation matrices between the reference and the source points are calculated by using an Iterative Closest Point(ICP) algorithm. The source points are transformed by the obtained rotation and translation matrices. Finally, the transformed source points are projected on the reference points. Through these processes, the position accuracy of a low-end GPS is ultimately enhanced. To verify the proposed method, the various real experimental results are presented.
崔德善(Tok Son Choe) 대한전기학회 2007 전기학회논문지 Vol.56 No.7
In this paper, a real-time collision avoidance algorithm is proposed for eXperimental Autonomous Vehicle(XAV). To ensure real-time implementation, a virtual potential field is calculated in one dimensional space. The attractive force is generated by the steering command either transmitted in the remote control station or calculated in the Autonomous Navigation System(ANS) of the XAV. The repulsive force is generated by obstacle information obtained from Laser Range Finder(LRF) mounted on the XAV. Using these attractive and repulsive forces, modified steering, velocity and emergency stop commands are created to avoid obstacles and follow a planned path. The suggested algorithm is inserted as one component in the XAV system. Through various real experiments and techinical demonstration using the XAV, the usefulness and practicality of the proposed algorithm are verified.
최덕선(Tok Son Choe),민지홍(Ji-Hong Min),안성용(Seong Yong Ahn) 대한전자공학회 2018 대한전자공학회 학술대회 Vol.2018 No.6
This paper introduces improvement of object recognition using tracking information. Intermittent erroneous recognition and occlusion are important problems to overcome in object recognition. Using the trajectory information of each object generated by tracking, the problems are solved in this paper. The possibility of the proposed method is verified by a simple experiment.
이영일,최덕선,박용운,Lee, Young-Il,Choe, Tok Son,Park, Yong Woon 한국군사과학기술학회 2013 한국군사과학기술학회지 Vol.16 No.6
It is required for UGV(Unmanned Ground Vehicle) to have a LPP(Local Path Plan) component which generate a local path via the center of road by analyzing binary map to travel autonomously unpaved road in rough environment. In this paper, we present the method of boundary estimation for unpaved road and a local path planning method based on RANGER algorithm using the estimated boundary. In specially, the paper presents an approach to estimate road boundary and the selection method of candidate path to minimize the problem of zigzag driving based on Bayesian probability reasoning. Field test is conducted with scenarios in rough environment in which bush, tree and unpaved road are included and the performance of proposed method is validated.