• Title, Summary, Keyword: Unmanned Ground Vehicle

Search Result 257, Processing Time 0.04 seconds

MEMS GPS/INS Navigation System for an Unmanned Ground Vehicle Operated in Severe Environment (극한 무인 로봇 차량을 위한 MEMS GPS/INS 항법 시스템)

  • Kim, Sung-Chul;Hong, Jin-Seok;Song, Jin-Woo
    • Journal of Institute of Control, Robotics and Systems
    • /
    • v.13 no.2
    • /
    • pp.133-139
    • /
    • 2007
  • An unmanned ground vehicle can perform its mission automatically without human control in unknown environment. To move up to a destination in various surrounding situation, navigational information is indispensible. In order to be adopted for an unmanned vehicle, the navigation box is small, light weight and low power consumption. This paper suggests navigation system using a low grade MEMS IMU for supplying position, velocity, and attitude of an unmanned ground vehicle. This system consists of low cost and light weight MEMS sensors and a GPS receiver to meet unmanned vehicle requirements. The sensors are basically integrated by loosely coupled method using Kalman filter and internal algorithms are divided into initial alignment, sensor error compensation, and complex navigation algorithm. The performance of the designed navigation system has been analyzed by real time field test and compared to commercial tactical grade GPS/INS system.

Design of an Obstacle Detecting System for Unmanned Ground Vehicle Using Laser Scanner (레이저스캐너를 이용한 무인자동차의 장애물인식 시스템 설계)

  • Moon, Hee-Chang;Son, Young-Jin;Kim, Jung-Ha
    • Journal of Institute of Control, Robotics and Systems
    • /
    • v.14 no.8
    • /
    • pp.809-817
    • /
    • 2008
  • This paper describes an obstacle detecting system of an unmanned ground vehicle (UGV). The unmanned ground vehicle is consists of several systems such as vehicle control system, navigation system, obstacle detecting system and integration system. Among these systems, the obstacle detecting system is a driving assistance system of UGV. Through the UGV is driving, the system detects obstacles such as cars, human, tree, curb and hills and then send information of obstacles position to integration system for safety driving. In this research, the obstacle detecting system is composed of 5 laser scanners and develop algorithms of detecting obstacles, curb, uphill and downhill road.

Trajectory tracking control system of unmanned ground vehicle (무인자동차 궤적 추적 제어 시스템에 관한 연구)

  • Han, Ya-Jun;Kang, Chin-Chul;Kim, Gwan-Hyung;Tac, Han-Ho
    • Journal of the Korea Institute of Information and Communication Engineering
    • /
    • v.21 no.10
    • /
    • pp.1879-1885
    • /
    • 2017
  • This paper discusses the trajectory tracking system of unmanned ground vehicles based on predictive control. Because the unmanned ground vehicles can not satisfactorily complete the path tracking task, highly efficient and stable trajectory control system is necessary for unmanned ground vehicle to be realized intelligent and practical. According to the characteristics of unmanned vehicle, this paper built the kinematics tracking models firstly. Then studied algorithm solution with the tools of the optimal stability analysis method and proposed a tracking control method based on the model predictive control. The controller used a kinematics-based prediction model to calculate the predictive error. This controller helps the unmanned vehicle drive along the target trajectory quickly and accurately. The designed control strategy has the true robustness, simplicity as well as generality for kinematics model of the unmanned vehicle. Furthermore, the computer Simulink/Carsim results verified the validity of the proposed control method.

Wide-Range Mapping Methodology for Unmanned Ground Vehicle Based on DGPS (무인자율차량 적용을 위한 DGPS 기반 전역지도 작성기법)

  • Shon, Woong-Hee;Yu, Seung-Nam;Kim, Young-Il;Han, Chang-Soo
    • Journal of the Korean Society of Industry Convergence
    • /
    • v.13 no.2
    • /
    • pp.85-92
    • /
    • 2010
  • This study shows the path generation algorithm for an UGV (Unmanned Ground Vehicle). The developed UGV frame which has a 4-wheel driven mechanism and diesel source is applied. Proposed vehicle system in this research is aimed to military purpose. To achieve the unmanned autonomous driving, following two main issues are considered. First, behavior module for positioning and posture of vehicle system and second, cognition module to receive the information from environment are proposed and verified. To do this, rover which can acquire the positioning information from earth coordinate and IMU (Inertial Measurement Unit) which can measure the posture are combined to design the path planning algorithm.

  • PDF

A Path Generation Algorithm for Obstacle Avoidance in Waypoint Navigation of Unmanned Ground Vehicle (무인자동차의 경로점 주행 시 장애물 회피를 위한 경로생성 알고리즘)

  • Im, Jun-Hyuck;You, Seung-Hwan;Jee, Gyu-In;Lee, Dal-Ho
    • Journal of Institute of Control, Robotics and Systems
    • /
    • v.17 no.8
    • /
    • pp.843-850
    • /
    • 2011
  • In this paper, an effective path generation algorithm for obstacle avoidance producing small amount of steering action as possible is proposed. The proposed path generation algorithm can reduce unnecessary steering because of the small lateral changes in generated waypoints when UGV (Unmanned Ground Vehicle) encounters obstacles during its waypoint navigation. To verify this, the proposed algorithm and $A^*$ algorithm are analyzed through the simulation. The proposed algorithm shows good performance in terms of lateral changes in the generated waypoint, steering changes of the vehicle while driving and execution speed of the algorithm. Especially, due to the fast execution speed of the algorithm, the obstacles that encounter suddenly in front of the vehicle within short range can be avoided. This algorithm consider the waypoint navigation only. Therefore, in certain situations, the algorithm may generate the wrong path. In this case, a general path generation algorithm like $A^*$ is used instead. However, these special cases happen very rare during the vehicle waypoint navigation, so the proposed algorithm can be applied to most of the waypoint navigation for the unmanned ground vehicle.

A Study on Trend of Technology Development for Unmanned Combat Ground Vehicle (무인전투차량 기술개발 동향조사 및 분석)

  • Park, Seung
    • Journal of the Korea Academia-Industrial cooperation Society
    • /
    • v.10 no.7
    • /
    • pp.1735-1739
    • /
    • 2009
  • The keen global competition is expected among foreign advanced nations for source, key technologies required by unmanned combat ground vehicle. Therefore, the trend of technologies for unmanned ground combat vehicle was analyzed in this research. It was based on the submitted patents from 1988 to 2008 in Korea, U.S.A, Japan, Europe, Canada and Israel. This analysis was focused on finding the technical level, the challenge area and breakthrough technologies and the growth of technologies of each nations considering opinions of experts. This report suggested the field of key technology development

Development of Auto-Parking Algorithm for Driving in Urban (무인차량의 자동주차 알고리즘 개발)

  • Cho, Kyoung-Hwan;Chung, Jin-Wok
    • Journal of the Korea Academia-Industrial cooperation Society
    • /
    • v.12 no.5
    • /
    • pp.2360-2366
    • /
    • 2011
  • The Unmanned Ground Vehicle is comprised of four systems of obstacle detection: The navigation system, vehicle controlling system, obstacle detecting and an integration system that use the various sensors. The research introduced utilizes 6 lasers to recognize obstacles. The system operates an avoidance system within the unmanned ground vehicle, using six lasers. The Unmanned Ground Vehicle's parallel parking and right angle parking is in development using algorithms. This algorithms' certification is intended to be installed in the encoder, in the GPS. By using the Laser Scannerfor the position's calculation, errors are both reduced and minimized, so the tire's slip minimized to the point where the vehicle had a limit of about 5Km/h.

A Study on the Design and Control Method for Unmanned Ground Vehicle System (무인 자율 주행 차량 시스템 설계 및 제어에 관한 연구)

  • Moon, Hee-Chang;Park, Myung-Wook;Kim, Jung-Ha
    • Journal of Institute of Control, Robotics and Systems
    • /
    • v.16 no.5
    • /
    • pp.446-455
    • /
    • 2010
  • The research presented covers the design and control method of unmanned ground vehicle (UGV). An electric vehicle is used and is driven by DC motor. The power system on the UGV has been adjusted and actuators have been installed for steering and brake automation. A toggle switch is implemented to easily switch between manual and autonomous states. The UGV state is monitored by a velocity sensor, as well as steering and brake position sensors. An emergency stop device was designed and installed to quickly and safely stop the UGV. Different control methods, including the PID controller, were studied for improved steering responsiveness, and results were confirmed through experimentation. Satisfactory performance was achieved and several possible areas of future research have arisen.

Obstacle Detection for Unmanned Ground Vehicle on Uneven Terrain (비평지용 무인차량을 위한 장애물 탐지)

  • Choe, Tok Son;Joo, Sang Hyun;Park, Yong Woon;Park, Jin Bae
    • The Transactions of The Korean Institute of Electrical Engineers
    • /
    • v.65 no.2
    • /
    • pp.342-348
    • /
    • 2016
  • We propose an obstacle detection algorithm for unmanned ground vehicle on uneven terrain. The key ideas of the proposed algorithm are the use of two-layer laser range data to calculate the gradient of a target, which is characterized as either ground or obstacles. The proposed obstacle detection algorithm includes 4-steps: 1) Obtain the distance data for each angle from multiple lidars or a multi-layer scan lidar. 2) Calcualate the gradient for each angle of the uneven terrain. 3) Determine ground or obstacle for each angle on the basis of reference gradient. 4) Generate a new distance data for each angle for a virtual laser scanner. The proposed algorithm is verified by various experiments.