부분 자율주행 환경에서 능동형 제어권 전환 알람 시스템 제안 -모바일 네비게이션 사운드 알람 중심으로-

장재인,반영환 차세대컨버전스정보서비스학회 2019 차세대컨버전스정보서비스기술논문지 Vol.8 No.1

Smart phones are a living tool of modern people, and many drivers can navigate to their destinations more easily and quickly than with vehicle-based navigation. Most drivers are using mobile navigation to get accurate directions with quick updates. Therefore, it is reasonable to apply the information necessary for the partial autonomous vehicle to the mobile navigation rather than the navigation on the vehicle. Currently commercially available automobiles have been commercialized by applying the autonomous driving level 2. The completed autonomous vehicle is a vehicle which can recognize the vehicle's own driving environment and operate the vehicle to its destination without the operation of an artificial driver after the passenger sets the destination. However, in the case of the level 2, There is a time point of switching control between the automobile and the driver in the non-partial autonomous driving state. The driver must control the autonomous on / off control at the driver's discretion. Even when the vehicle is driving, the driver must be aware of the surrounding situation and driving information, and the driver must recognize and respond to various risks and unexpected situations. Control shift can occur at any time during partial autonomous driving, and it is important for the driver to be informed of the switching of the control right directly to the safety of the driver. In this study, we classify driver control transition scenarios in partial autonomous driving and investigate the influence of active auditory information alarm on driver 's situation and manipulation using mobile navigation. In conclusion, the provision of active auditory alarms for mobile navigation during partial autonomous navigation is effective in recognizing and using the driver's situation, and proposes an auditory sound type and structure system for effectively applying active auditory alarms. 스마트 폰은 현대인의 생활 도구로서 많은 운전자들이 차량에 탑재된 네비게이션 대신 보다 쉽고 빠르게 목적지를 탐색 할 수 있고 빠른 업데이트로 정확한 길안내가 가능하여 대부분의 운전자들이 모바일 네비게이션을 이용하는 추세이다. 따라서 부분 자율주행 시 필요한 정보를 차량에 탑재된 네이비게이션 보다는 모바일 네비게이션에 적용하는 것이 합리적인 상황이라고 볼 수 있다. 현재 시판 되고있는 자동차에는 자율주행 레벨 2단계인 부분적인 자율주행 기능이 적용되어 있다. 완성된 자율주행자동차(autonomous vehicle)의 경우 탑승자가 목적지를 설정한 후 인위적인 운전자의 조작 없이 차량이 스스로 주행환경을 인식하고 판단하여 목적지까지 운행 가능한 자동차를 말하지만 레벨 2단계의 경우 자동차의 완벽한 자율 주행이 아닌 부분 자율주행 상태로 자동차와 운전자 간의 제어권 전환 시점이 존재하게 된다. 운전자의 판단에 따라 자율 주행 On/Off 를 컨트롤해야하며 자동차가 주행을 하고 있을 때에도 운전자는 주변 상황 및 주행에 대한 정보를 인지하고 다양한 위험 및 돌발 상황에 운전자 스스로 인지하고 대응해야한다. 부분 자율주행 중에는 필연적으로 제어권 전환이 발생할 수 있기 때문에 운전자에게 제어권 전환에 대한 정보 알람이 운전자의 안전과 직결되는 문제로 무엇보다 중요하다. 본 연구에서는 부분 자율주행 시 운전자 제어권 전환 발생 상황을 분류하여 모바일 네비게이션을 이용한 능동형 청각 정보 알람이 운전자의 상황 인지 및 조작도에 미치는 영향을 연구하였다. 결론적으로 부분 자율주행 시 모바일 네비게이션의 능동형 청각 알람의 제공은 운전자 상황 인지 및 자율주행기능 사용에 효과적이며, 능동형 청각 알람을 효과적으로 적용하기 위한 청각 사운드 유형 및 구조 시스템을 제안하고자 한다.

Autonomous Unmanned Merchant Vessel and its Contribution towards the e-Navigation Implementation: The MUNIN Perspective

Hans-Christoph BURMEISTER,Wilko BRUHN,Ørnulf Jan RØDSETH,Thomas PORATHE 국제이네비해양경제학회 2014 International Journal of e-Navigation and Maritime Vol.1 No.1

While IMO’s e-Navigation project’s scope is to enhance safety of navigation by improved shipto- shore-cooperation, the EU’s FP7 project MUNIN’s aim is to develop a concept for an autonomous dry bulk carrier, that is at least as safe as a manned vessel. As e-Navigation has a strong focus on improving the human element in shipping and MUNIN tends towards an unmanned bridge, a common baseline might look quite contradictory at first, but they share the need to ensure and enhance the safety of navigation. After an introduction into e-Navigation and the MUNIN project, this paper will demonstrate with two examples, how MUNIN’s results address identified e-Navigation’s gaps and addresses e-Navigation’s user needs. Thus, MUNIN contributes to the development and implementation of the prioritized e-Navigation solutions.

면역 알고리즘을 이용한 쿼드로터 장애물회피 기술

손병락,한창섭,이현,이동하 대한임베디드공학회 2014 대한임베디드공학회논문지 Vol.9 No.5

In recent, autonomous navigation techniques to avoid obstacles have been studied by using unmanned aircraft vehicles(UAVs) since the increment of UAV's interest and utilization. Particularly, autonomous navigation based UAVs are utilized in several areas such as military, police, media, and so on. However, there are still some problems to avoid obstacle when UVAs perform autonomous navigation. For instance, the UAV can not forward in the corner of corridors even though it utilizes the improved vanish point algorithm that makes an autonomous navigation system. Therefore, in this paper, we propose an obstacle avoidance technique based on immune algorithm for autonomous navigation of Quadrotor. The proposed algorithm is consisted of two steps such as 1) single color discrimination and 2) multiple color discrimination. According to the result of experiments, we can solve the previous problem of the improved vanish point algorithm and improve the performance of autonomous navigation of Quadrotor.

대잠전용 무인수상로봇의 자율운항시스템 설계를 위한 LQR 기반 경로추종 알고리즘 연구

하정웅,박신배,박종규 제어·로봇·시스템학회 2022 제어·로봇·시스템학회 논문지 Vol.28 No.5

. This paper presents the usage of LQR-based intelligent path tracking methods to control the autonomous navigation system of an Unmanned Surface Robot (USR) in sea-clutter environmental fields. Since considerable interest in the Autonomous Navigation System (ANS) of USR in sea warfare has increased, the stability of the Autonomous Navigation System (ANS) control becomes of the utmost importance. When the USR moves in sea environments, the control stability of autonomous navigation systems becomes a major concern. The Path Tracking Controller (PTC) of USRs is one of the high potential subsystems that can be further improved to achieve moreaccurate, robust, and comfortable tracking performance. The stability of the PTC should be taken into consideration while performing thepath tracking task in autonomous navigation. To solve the automatic waypoint tracking stability of independently-developed PTCs, awaypoint tracking controller is designed based on the Linear Quadratic Regulator (LQR) theory with the kinematic model of USRs. Then,a simulation analysis of the designed waypoint tracking controller is performed, and the results are compared at two different speeds. Additionally, complex waypoint tracking tests under realistic sea conditions are performed based on the designed waypoint trackingcontroller. Results show good tracking performance, which indicates that the designed waypoint tracking controller can adapt tohigh-speed USRs.

Microphone System Based Path Following Control of Quadrotor Unmanned Vehicle Autonomous Flight

Tae-Young Yoon,Hyuk-Jun Chang 제어로봇시스템학회 2022 제어로봇시스템학회 국제학술대회 논문집 Vol.2022 No.11

Currently, interest in autonomous driving of small quadrotors in various ways is increasing. In most cases, quad-rotor autonomous driving is mainly performed with vision data acquired using cameras. However, this method is challenging to implement in an environment where using a camera is difficult, such as in a space with insufficient light. In this work, we designed a low-cost autonomous-driving system for a drone using a microphone sensor instead of vision data using a camera. The microphones are connected to a data acquisition system (DAQ) to read data, and the laptop connected to the DAQ controls the operation of the drone using the data values in real time. We used a microphone sensor to measure the sound of the quadrotor to estimate its position and set up several flight paths to test the autonomous flight of quadrotor. Unlike drones that use vision data, our research has presented a new method in the field of quadrotor autonomous driving by implementing autonomous driving of drones using a microphone sensor.

Development and Experimental Testing of an Autonomous Jellyfish Detection and Removal Robot System

Kim, Donghoon,Shin, Jae-Uk,Kim, Hyungjin,Kim, Hanguen,Lee, Donghwa,Lee, Seung-Mok,Myung, Hyun Institute of Control, Robotics and Systems 2016 International Journal of Control, Automation, and Vol.14 No.1

The development of an autonomous jellyfish removal robot system, named JEROS, and related experimental results are presented in this paper. The number of jellyfish has drastically increased due to changes to the marine environment. Large jellyfish swarms are threatening marine ecosystems and inducing enormous damage globally to marine-related industries. JEROS has been designed based on a twin hull-type surface vehicle equipped with a device for shredding jellyfish. Additionally, an electrical control system, a guidance, navigation, and control (GNC) system, and a vision-based jellyfish detection system are embedded to remove jellyfish autonomously. The jellyfish removal mission starts when the location of jellyfish is detected, followed by planning a path for jellyfish removal, tracking the path using an autonomous navigation system, and shredding jellyfish while tracking. The performance of the vision-based jellyfish detection, navigation, and jellyfish removal was demonstrated through experiments in a pond and field tests in Masan Bay located on the southern coast of South Korea.

Precise Positioning of Autonomous Underwater Vehicle in Post-processing Mode

Andrzej Felski 한국항해항만학회 2006 한국항해항만학회 학술대회논문집 Vol.1 No.-

Autonomous Underwater Vehicles plays specific role in underwater investigation. Generally, this kind of vehicles will move along a planned path for sea bottom or underwater installations inspections, search for mineral deposits along shelves, seeking lost items including bottom mines or for hydrographic measurements. A crucial barrier for it remains the possibility of precise determination of their underwater position. Commonly used radionavigation systems do not work in such circumstances or do not guarantee the required accuracies. In the paper some new solution is proposed on the assumption that it is possible to increase the precision by certain processing of a combination of measurements conducted by means of different techniques. Objective of the paper is the idea of navigation of AUV which consists of two phases: firstly a trip of AUV along pre-planned route and after that post- processed transformation of collected data in post-processing mode. During the processing of collected data the modern adjustment methods have been applied, mainly estimation by means of least squares and M-estimation. Application of these methods should be associated with the measuring and geometric conditions of navigational tasks and thus suited for specific scientific and technical problems of underwater navigation. The first results of computer aided investigation will be presented and the basic scope of these application and possible development directions will be indicated also. The paper is prepared as an partial results of the works carried out within a framework of the research Project: “Improvement of the Precise Underwater Vehicle Navigation Methods” financed by the Polish Ministry of Education and Science (No 0 T00A 012 25).

Integrated Path Planning and Collision Avoidance for an Omni-directional Mobile Robot

Kim, Dong-Hun Korean Institute of Intelligent Systems 2010 INTERNATIONAL JOURNAL of FUZZY LOGIC and INTELLIGE Vol.10 No.3

This paper presents integrated path planning and collision avoidance for an omni-directional mobile robot. In this scheme, the autonomous mobile robot finds the shortest path by the descendent gradient of a navigation function to reach a goal. In doing so, the robot based on the proposed approach attempts to overcome some of the typical problems that may pose to the conventional robot navigation. In particular, this paper presents a set of analysis for an omni-directional mobile robot to avoid trapped situations for two representative scenarios: 1) Ushaped deep narrow obstacle and 2) narrow passage problem between two obstacles. The proposed navigation scheme eliminates the nonfeasible area for the two cases by the help of the descendent gradient of the navigation function and the characteristics of an omni-directional mobile robot. The simulation results show that the proposed navigation scheme can effectively construct a path-planning system in the capability of reaching a goal and avoiding obstacles despite possible trapped situations under uncertain world knowledge.

A Study on Dynamic Safety Navigation Envelopes Considering a Ship’s Position Uncertainty

Pyo-Woong Son,Youngki Kim,Tae Hyun Fang,Kiyeol Seo 사단법인 항법시스템학회 2023 Journal of Positioning, Navigation, and Timing Vol.12 No.3

As technologies such as cameras, Laser Imaging, Detection, and Ranging (LiDAR), and Global Navigation Satellite Systems (GNSS) become more sophisticated and common, their use in autonomous driving technologies is being explored in various fields. In the maritime area, technologies related to collision avoidance between ships are being developed to evaluate and avoid the risk of collision between ships by setting various scenarios. However, the position of each vessel used in the process of developing collision avoidance technology between vessels uses data obtained through GNSS, and may include a position error of 10 m or more depending on the situation. In this paper, a study on the dynamic safety navigation range including the positional inaccuracy of the ship is conducted. By combining the concept of the protection level obtained using GNSS raw data with a conventional safe navigation range, a safer navigation range can be calculated for dynamic navigation. The calculated range is verified using data obtained while sailing in an actual sea environment.

실외 도로 환경에서의 자율주행 로봇 개발

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.