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노치원(Chi-Won Roh),강연식(Yeonsik Kang),강성철(Sung-Chul Kang) 제어로봇시스템학회 2009 제어·로봇·시스템학회 논문지 Vol.15 No.3
This paper discusses an autonomous navigation system for urban environments. For the localization of the robot, EKF (Extended Kalman Filter) algorithm is used with odometry, angle sensor, and DGPS (Differential Global Positioning System) measurement. Especially in an urban environment, DGPS is often blocked by buildings and trees and the resulting inaccurate positioning prevents the robot from safe and reliable navigation. In addition to the global information from DGPS, the local information of the curb on the roadway is used to track a route when the global DGPS information is inaccurate. For this purpose, curb detection algorithm is developed and implemented in the developed navigation algorithm. Four different types of navigation strategies are developed and they are switched to adapt to different localization conditions according to the availability of DGPS and the existence of the curbs on the roadway. The experimental results show that the designed switching strategy improves the navigation performance adapting to the environment conditions.
실외 자율주행 로봇을 위한 다수의 동적 장애물 탐지 및 선속도 기반 장애물 회피기법 개발
김선도(Sun-do Kim),노치원(Chi-Won Roh),강연식(Yeonsik Kang),강성철(Sung-chul Kang),송재복(Jaebok Song) 제어로봇시스템학회 2008 제어·로봇·시스템학회 논문지 Vol.14 No.7
In this paper, we used a laser range finder (LRF) to detect both the static and dynamic obstacles for the safe navigation of a mobile robot. LRF sensor measurements containing the information of obstacle’s geometry are first processed to extract the characteristic points of the obstacle in the sensor field of view. Then the dynamic states of the characteristic points are approximated using kinematic model, which are tracked by associating the measurements with Probability Data Association Filter. Finally, the collision avoidance algorithm is developed by using fuzzy decision making algorithm depending on the states of the obstacles tracked by the proposed obstacle tracking algorithm. The performance of the proposed algorithm is evaluated through experiments with the experimental mobile robot.
서승범(SeungBeum Suh),강연식(Yeonsik Kang),노치원(Chi-Won Roh),강성철(Sung-Chul Kang) 제어로봇시스템학회 2009 제어·로봇·시스템학회 논문지 Vol.15 No.5
Autonomous Lane detection with vision is a difficult problem because of various road conditions, such as shadowy road surface, various light conditions, and the signs on the road. In this paper we propose a robust lane detection algorithm to overcome shadowy road problem using a statistical method. The algorithm is applied to the vision-based mobile robot system and the robot followed the lane with the lane following controller. In parallel with the lane following controller, the global position of the robot is estimated by the developed localization method to specify the locations where the lane is discontinued. The results of experiments, done in the region where the GPS measurement is unreliable, show good performance to detect and to follow the lane in complex conditions with shades, water marks, and so on.