먼지 환경의 무인차량 운용을 위한 장애물 탐지 기법 = A Method of Obstacle Detection in the Dust Environment for Unmanned Ground Vehicle

다국어 초록 (Multilingual Abstract)

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.

참고문헌 (Reference)

1 이기룡, "레이저 스캐너를 이용한 장애물 탐색 및 분리 알고리즘 개발" 대한전기학회 57 (57): 677-685, 2008

2 박용운, "국방로봇과 자율화 기술의 발전 전망" 46 (46): 44-49, 2006

3 박용운, "개방형 아키텍쳐 기반의 자율주행기술 구현" 176-178, 2006

4 Veelaert, P, "Ultrasonic Potential Field Sensor for Obstacle Avoidance" 15 : 774-779, 2001

5 Robert Dietterle, "The Future Combat System(FCS)Overview" 5 : 3267-3273, 2005

6 Australian Center for Field Robotics(ACFR), "Sensor Integrity:Muti-Sensor Perception for Unmanned Ground Vehicle" 2009

7 박용운, "JAUS 기반의 국방지상로봇 개발" 875-878, 2005

8 MG Cartwright, "FCS Overview Media Briefing"

9 최덕선, "DEM과 장애물 지도를 이용한 거리변환 경로계획" 92-94, 2005