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건설기계 자율주행을 위한 칼만필터 기반 시스템 상태 추정
박민철(Mincheol Park),홍희승(Heeseung Hong),강민성(Monsung Kang),김동목(Dongmok Kim) 한국자동차공학회 2021 한국자동차공학회 부문종합 학술대회 Vol.2021 No.6
Nowadays, construction sites lack skilled workers due to aging. In addition, as construction work increases in extreme environments, safety must be considered. The automation of construction vehicles provides a solution to this problem. However, this automation requires a localization function to accurately estimate the state of the vehicle and a perception function to estimate the surrounding state. This paper presents sensor fusion and object tracking based on kalman filter to improve the performance of localization and perception functions of unmanned construction vehicles. The algorithm was evaluated using experimental datas and the experimental result shows good performances of state estimator.
박민철(Mincheol Park),홍희승(Heeseung Hong),김동목(Dongmok Kim) 한국자동차공학회 2022 한국자동차공학회 부문종합 학술대회 Vol.2022 No.6
Nowadays, the shortage of manpower is intensifying due to the aging of construction sites. In addition, as construction work increases in extreme environments, it is necessary to secure safety. In this situation, the automation of unmanned construction machines presents a solution to the problem of manpower shortage and securing safety. In this paper, to solve these problems, we describe our experiments in scenarios with steep slopes and obstacles.
박민철(Mincheol Park),정우용(Wooyong Jung),양승만(Seungman Yang),홍희승(Heeseung Hong),홍성훈(Seonghun Hong),이희진(Heejin Lee),김창묵(Changmook Kim),문지현(Jihyun Moon),강민성(Minsung Kang),김영준(Youngjoon Kim),유근수(Geunsu You),김 한국자동차공학회 2020 한국자동차공학회 부문종합 학술대회 Vol.2020 No.7
The global construction industry is becoming smart as it moves away from the traditional labor-intensive. Doosan Infracore presented a business model that maximizes efficiency and productivity via Concept-x demonstration. This paper introduces the autonomous excavator control system, which was developed by Doosan Infracore Corporation to participate in the Concept-X Project. The unmanned excavator has perception, planning, and control system. In perception system, the unmanned excavator recognizes the surrounding environment and classify the obstacle using various sensors installed on the excavator. In planning system, the excavator estimates work sequence plans, operation trajectory and driving routes. In control system, the unmanned excavator performs work safely and accurately. The performance of the control system is verified with experimental data obtained from Concept-X demonstration scenario.