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      무인자동차를 위한 기본설계 및 센서융합과 성능검증 = The Development and Evaluation of Unmanned Vehicle with Sensor Fusion

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      https://www.riss.kr/link?id=A106980704

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      The unmanned vehicle should take notice of its location and recognize circumstance around the place itself to enable tele operation system of unmaned vehicle. During the operation, it has a serious control strategy. Vehicle can detect obstacles and av...

      The unmanned vehicle should take notice of its location and recognize circumstance around the place itself to enable tele operation system of unmaned vehicle. During the operation, it has a serious control strategy. Vehicle can detect obstacles and avoid collision on the road. For these performances, we designed sensor fusion system, which comprised four main unmaned vehicle parts : front & side sensor system, acceleration & brake control system for longitudinal motion control, vision system for keeping the lane and steering control system for the lateral motion control.
      In this study, mechanical and electronic parts are implemented to operate unmaned vehicle as a integrated system, which includes vehicle driving DC motor, brake DC motor, step motor for steeling control and all of them are controlled by one processor
      A laser range finder is used to detect long distance obstacle of front side. And ultra-sensors are used for detecting close distance obstacle of lateral side.
      Algorithm for operating each control parts is developed and AICC logic is applied and enhanced experimentally.
      In this paper, we propose that the basic system integration and system evaluation for the unmanned vehicle.

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