Journal of the Korean Institute of Intelligent Systems (한국지능시스템학회논문지)

Korean Institute of Intelligent Systems (한국지능시스템학회)
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An Autonomous Mobile System based on Detection of the Road Surface Condition

노면 상태 검출에 기반한 자율 주행 시스템

  • Jeong, Hye-C. (Dept. of Electrical Engineering, Yeungnam University) ;
  • Seo, Suk-T. (Dept. of Electrical Engineering, Yeungnam University) ;
  • Lee, Sang-H. (School of Mechanical Engineering, Yeungnam University) ;
  • Lee, In-K. (Dept. of Electrical Engineering, Yeungnam University) ;
  • Kwon, Soon-H. (Dept. of Electrical Engineering, Yeungnam University)
  • Published : 2008.10.25
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Abstract

Recently, many researches for autonomous mobile system have been proposed, which can recognize surrounded environment and navigate to destination without outside intervention. The basic sufficient condition for the autonomous mobile system is to navigate to destination safely without accident. In this paper, we propose a path planning method in local region for safe navigation of autonomous system through evaluation of the road surface distortion(damaged/deformed road, unpaved road, obstacle and etc.). We use laser distance sensor to get the information on the road surface distortion and apply image binalization method to evaluate safe region in the detected local region. We show the validity of the proposed method through the computer simulation based on the artificial local road map.

최근 외부 개입 없이 스스로 주변 환경을 파악하고 목적지까지의 이동경로를 생성하여 자율 주행하는 지능형 시스템에 관한 연구가 활발히 진행되고 있다. 이러한 자율 주행 시스템은 기본적으로 운행 중에 사고가 발생하지 않고 안전하게 목표점까지 이동해야 한다. 본 논문에서는 레이저 변위 센서를 이용하여 노면의 왜곡(훼손된 노면, 비포장 도로, 장애물 등)을 검출하고, 영상 이진화 기법을 적용하여 위험 요소를 검출, 판단하여 주행 시스템의 안정적 운항이 가능한 경로를 생성하는 기법을 제안한다. 제안 기법의 타당성은 임의로 제작된 국부영역의 지도 데이터에 기반한 모의실험을 통하여 보인다.

Keywords

References

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