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로봇형 차량의 경로 추종 및 장애물 회피를 위한 운동 계획에 관한 연구
김동형(Donghyung Kim),김창준(Changjun Kim),김상호(Sangho Kim),최주영(Jooyoung Choi),한창수(Changsoo Han) 한국자동차공학회 2010 한국자동차공학회 학술대회 및 전시회 Vol.2010 No.11
This paper presents the motion planning of robotic vehicles for the path tracking and the obstacle avoidance. To follow the given path, the vehicle moves through the turning radius obtained through the pure pursuit method, which is a geometric path tracking method. In this paper, we assume that the vehicle is equipped with a range scanner, allowing it to avoid obstacles within its sensing range. The turning radius for avoiding the obstacle, which is inversely proportional to the virtual force, is then calculated. Therefore, these two kinds of the turning radius are used to generate the steering angle for the front wheel of the vehicle. And the vehicle reduces the velocity when it meets the obstlace or the large steering angle using the potentials of obstacle points and the steering angle. Thus the motion planning of the vehicle is done by planning the steering angle for the front wheels and the velocity. Finally, the performance of the proposed method is tested through simulation.
차량 동역학을 고려한 무인 주행 차량의 경로 추종 및 장애물 회피 혼합 기법 개발
김동형(Donghyung Kim),김창준(Changjun Kim),미안 아쉬팍 알리(Mian Ashfaq Ali),김영렬(Youngryul Kim),한창수(Changsoo Han) 한국자동차공학회 2009 한국자동차공학회 학술대회 및 전시회 Vol.2009 No.11
This paper presents a novel method that integrates the path tracking and the obstacle avoidance for UGV(Unmanned Ground Vehicle). Generally, for a safety and an ease control, UGV is used to runs slowly during the autonomous navigation. But if we want to run UGV fast, the vehicle dynamics should be considered. In this research, by using the bicycle model for the vehicle, the integrated method is applied to that model. For waypoints navigation, the pure pursuit path tracking is used. And this method is integrated with the obstacle avoidance method. The integrated method uses the obstacle potential that keeps UGV away from the obstacles while it follows the waypoints. The proposed method is tested on the simulation with several waypoints and obstacles showing that UGV is able to follow the path with obstacles.
로봇형 차량을 위한 거리센서 기반 운동계획에 관한 연구
김동형(Donghyung Kim),김창준(Changjun Kim),김상호(Sangho Kim),최주영(Jooyoung Choi),한창수(Changsoo Han) 한국자동차공학회 2011 한국자동차공학회 학술대회 및 전시회 Vol.2011 No.11
This paper presents the sensor-based motion planning for robotic vehicles. To be more practical method, the range sensor with the limited range and angle is considered for the robot. Based on the vehicle’s range sensor, the nonholonomic navigation algorithm plans the motion as the instantaneous turning radius which has the lower limit so that the constraints on the robot are satisfied. And the algorithms for the each behavior examine not only the sensor’s limited range and field of the view but also the nonholonomic characteristic of the robotic vehicle. The performance of the motion planning algorithm is tested through the various simulations.
축소 모델 차량을 통한 자율 주행 차량의 경로 추종 및 장애물 회피 기법에 관한 연구
김동형(Donghyung Kim),김창준(Changjun Kim),김영렬(Youngryul Kim),한창수(Changsoo Han) 한국자동차공학회 2010 한국자동차공학회 부문종합 학술대회 Vol.2010 No.5
This paper presents a method that integrates the geometric path tracking and the obstacle avoidance for autonomous ground vehicle (AGV). AGV follows the path by moving through the turning radius given from the pure pursuit method which is the one of the geometric path tracking methods. As the AGV equipped with 2D laser scanner, the obstacle within the sensing range of 2D laser scanner, the virtual force is obtained. Therefore, the turning radius for avoiding the obstacle is calculated by inversely proportional to the virtual force. By integrating the turning radius for avoiding the obstacle and the turning radius for following the path, AGV follows the path and avoids the obstacle simultaneously. The effectiveness of the proposed method is verified through the real experiments using a scale-down vehicle.
자율주행 차량의 경유점 추종을 위한 통합된 궤적 계획기 및 제어기에 관한 연구
김동형(Donghyung Kim),김창준(Changjun Kim),김상호(Sangho Kim),최주영(Jooyoung Choi),최민석,한창수(Changsoo Han) 한국자동차공학회 2011 한국자동차공학회 부문종합 학술대회 Vol.2011 No.5
This paper presents the integrated trajectory planner and controller for the waypoint tracking of autonomous vehicles. In the case of that there are no driving lanes, the trajectory should be planned for the vehicle. However, because of the nonholonomic constraint which renders the motion orthogonal to the vehicle’s forward direction is impossible, the trajectory planning and the control problems are becoming complicated. To solve these problems, the trajectory planning and control are integrated using the flatness property of the kinematic model of the vehicle. And with the given waypoints, the waypoint tracking algorithm is proposed to plan the trajectory for the next waypoint. Therefore the vehicle follows the waypoints in order. Finally, the performance of the proposed method is tested through simulation.
Kim, Donghyung,Zhang, Zhuo,Yong, Kijung The Royal Society of Chemistry 2018 Nanoscale Vol.10 No.43
<P>One-dimensional heterojunction nanorods are highly attractive as photoanodes for developing efficient photoelectrochemical (PEC) systems for the effective photogeneration of charge carriers and transport. ZnO/BiVO4 nanorod arrays (NRAs) are excellent candidates if their charge transferring and recombination issues can be improved. In the current work, we have studied the synergistic doping effects of N-doped ZnO/Mo-doped BiVO4 NRAs for enhancing the photoanode activity in PEC devices. The N-doping of ZnO NRs enhances the charge carrier density ∼3-fold over undoped ZnO NRs through increased oxygen vacancies induced by N dopants. The Mo dopants in BiVO4 improve the mobility of photogenerated charge carriers and contribute to reducing charge recombination. The synergistic doping effects of both ZnO and BiVO4 could increase the charge transfer rate constant (<I>k</I>ct) of the ZnO:N/BiVO4:Mo heterojunction by ∼40% and decrease the charge transfer resistance ∼1.9-fold compared to those of undoped ZnO/BiVO4, which were confirmed by time resolved photoluminescence (PL) and electrochemical impedance (EIS) analyses. Our optimally fabricated ZnO:N/BiVO4:Mo NRA photoanode could achieve an excellent photocurrent of 3.62 mA cm<SUP>−2</SUP> without the application of any co-catalysts. This work presents a useful strategy for designing efficient heterojunction photoanodes in PEC systems.</P>
A Proposal on Determination of Protective Stop Space of Mobile Servant Robots for ISO13482
Donghyung Kim,Myoungchan Roh,Ji Sung Lee,Bumsoo Seo,Young Sook Jeoung 제어로봇시스템학회 2017 제어로봇시스템학회 국제학술대회 논문집 Vol.2017 No.10
International Organization for Standardization(ISO)13482 global safety standard for service robots was issued in 2014, however, the details such as test methods for a given service robot product are still on-going work. This paper proposes a method for the determination of protective stop space of mobile servant robots so that the safeties related to the protective stop function can be verified. For this purpose, in addition to the robot’s braking performance, we consider the relative velocity between the robot and a nearest safety-related object. And a mental safety, such as human comfort is also discussed since the robot’s motion including stopping should be safe and comfortable. Though the simulation, we tested the proposed method.
DongHyung Kim,ByungGab Yu,JiYeong Lee,ChangSoo Han 제어로봇시스템학회 2009 제어로봇시스템학회 국제학술대회 논문집 Vol.2009 No.8
The path tracking is important method in the autonomous navigation. The path tracking controller should berobust with the large tracking error, and the geometric path tracking methods already have an ability to overcome that problem. In this paper, we deal with the vector pursuit which is the one of the geometric path tracking methods. We proposed the new path tracking control system which can determines the look-ahead distance with the given constraints, the reference velocity and the limit on the angular velocity. The simulation and the experiment result show that the mobile robot satisfies the constraints while it follows the path.
Kim, Hoe Chul,Choe, Seunghoe,Cho, Ji Yoon,Lee, Donghyung,Jung, Il,Cho, Won-Seob,Kim, Myung Jun,Kim, Jae Jeong The Electrochemical Society 2015 Journal of the Electrochemical Society Vol.162 No.3
<P>The chemically synthesized suppressor and leveler are added together with bis(3-sulfopropyl)disulfide (SPS) to galvanostatically fill up the trenches with the similar dimensions to those of the through silicon vias. In our previous study, the deposition of the coarse-grained Cu was indicated as a drawback of the synthesized additives, i.e., polyoxy polymer with amine terminal groups and pyridine derivatives containing additional amine groups. In this study, the modified chemistry of organic additives is used, enabling the bottom-up filling of trenches and improving the microstructure of the deposited Cu. The conversion of the functional groups from amine to hydroxyl groups in both the suppressor and leveler, and the uniform adsorption of modified suppressor improved the microstructure of the deposited Cu. The void-free trench filling is induced by the selective adsorption and accumulation of SPS at the bottom and negligible deposition on the top and side-walls of the trenches. Based on the filling mechanism, the trenches with 9 μm width and 50 μm depth are galvanostatically filled in ≤20 min.</P>