• 한국군사과학기술학회지
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• 제16권6호
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• pp.726-732
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• 2013

It is required for UGV(Unmanned Ground Vehicle) to have a LPP(Local Path Plan) component which generate a local path via the center of road by analyzing binary map to travel autonomously unpaved road in rough environment. In this paper, we present the method of boundary estimation for unpaved road and a local path planning method based on RANGER algorithm using the estimated boundary. In specially, the paper presents an approach to estimate road boundary and the selection method of candidate path to minimize the problem of zigzag driving based on Bayesian probability reasoning. Field test is conducted with scenarios in rough environment in which bush, tree and unpaved road are included and the performance of proposed method is validated.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2006년 학술대회 논문집 정보 및 제어부문
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• pp.178-180
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• 2006

In general, camera calibration has to be gone ahead necessarily to estimate a position and an orientation of the object exactly using a camera. Autonomous land system in order to run a vehicle autonomously needs a camera calibration method appling a camera and various road environment. Camera calibration is to prescribe the confrontation relation between third dimension space and the image plane. It means to find camera calibration parameters. Camera calibration parameters using the paved road and the unpaved road are estimated. The proposed algorithm has been detected through the image processing after obtaining the paved road and the unpaved road. There is able to detect easily edges because the road lanes exist in the raved road. Image processing method is two. One is a method on the paved road. Image is segmentalized using open, dilation, and erosion. The other is a method on the unpaved road. Edges are detected using blur and sharpening. So it has been made use of Hough transformation in order to detect the correct straight line because it has less error than least-square method. In addition to, this thesis has been used vanishing point' principle. an algorithm suggests camera calibration method using Hough transformation and vanishing point. When the algorithm was applied, the result of focal length was about 10.7[mm] and RMS errors of rotation were 0.10913 and 0.11476 ranges. these have the stabilized ranges comparatively. This shows that this algorithm can be applied to camera calibration on the raved and unpaved road.

• 한국정밀공학회지
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• 제24권2호
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• pp.47-57
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• 2007

The vibration environment essentially companied by vehicle operation on the road is determined by the shape of road surface, which is called profile. In general, the profile and severity of unpaved road is an important issue in the reliability of durability test for vehicles. In order to maintain severity of unpaved road, it is necessary to develop profilometer system. We developed profilometer system which is composed of data processing computer, power unit, air compressor and sensors. This paper focuses on the severity management of unpaved test courses using neural networks. This paper presents the maintenance range for cross-country course in CPG(Chang-won Proving Ground) and the evaluation of similarity degree between unpaved roads.

• 한국정밀공학회지
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• 제24권1호
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• pp.37-46
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• 2007

The vibration environment essentially companied by vehicle operation on the ground is determined by the shape of road surface, which is called profile. This paper focuses on development of a profile and severity measurement system for unpaved test courses. In general, the profile and severity of unpaved road is an important issue in the reliability of endurance test. In order to measure unpaved road profile and severity, it is necessary to develop a profilometer system. The developed profilometer system is composed of data processing computer, power unit, air compressor and sensors(encoder, vertical gyro and laser displacement) This paper presents the measuring system configuration, measurement principle of road profile and analysis method of road characteristics used at CPG(Changwon Proving Ground) for this purpose.

• 시스템엔지니어링학술지
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• 제1권2호
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• pp.26-33
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• 2005

In this paper, an algorithm is presented to recognize road based on unpaved test courses image. The road images obtained by a video camera undergoes a pre-processing that includes filtering, gray level slicing, masking and identification of unpaved test courses. After this pre-processing, a part of image is grouped into 27 sub-windows and fed into a three-layer feed-forward neural network. The neural network is trained to indicate the road direction. The proposed algorithm has been tested with the images different from the training images, and demonstrated its efficacy for recognizing unpaved road. Based on the test results, it can be said that the algorithm successfully combines the traditional image processing and the neural network principles towards a simpler and more efficient driver warning or assistance system.

• 제어로봇시스템학회논문지
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• 제12권4호
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• pp.395-399
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• 2006

A method to recognize unpaved road region using a 3D depth measurement system is proposed for mobile robots. For autonomous maneuvering of mobile robots, recognition of obstacles or recognition of road region is the essential task. In this paper, the 3D depth measurement system which is composed of a rotating mirror, a line laser and mono-camera is employed to detect depth, where the laser light is reflected by the mirror and projected to the scene objects whose locations are to be determined. The obtained depth information is converted into an image. Such depth images of the road region represent even and plane while that of off-road region is irregular or textured. Therefore, the problem falls into a texture identification problem. Road region is detected employing a simple spatial differentiation technique to detect the plain textured area. Identification results of the diverse situation of unpaved trail are included in this paper.

• 한국군사과학기술학회지
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• 제20권2호
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• pp.231-237
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• 2017

The profile of unpaved road is an important issue in the reliability of endurance test. Efforts on measuring 2D road profile and analyzing the severity have been continued in the study of performing reliable endurance test evaluations through reflecting the results of such measurement and analysis. However, 2D road profile has limitation in measuring the profile in the road width direction because data is obtained along the trailer wheel track. Therefore, in order to measure 3-dimensional shape of road surface and construct severity DB of 3D road profile, Changwon Proving Ground(CPG) of Agency for Defense Development(ADD) developed 3D profilometer which is composed of laser scanner, IMU, GPS, encoder and so on. This paper focuses on the analysis of unpaved road severity using 3D road profile for army operation roads. This results will be used to manage test courses severity of CPG.

• 자동차안전학회지
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• 제15권4호
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• pp.6-15
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• 2023

This paper develops scenarios to evaluate the safety performance of Unmanned Ground Vehicle on military circumstances. The scenarios were created using Pegasus Project 6-layer format. These scenarios consist of straight road, curved road, merging road and crossroad. We adapt these scenarios to unpaved road. The characteristics of unpaved roads were divided into roughness, friction coefficient and road frequency. This adaption is validated via computer simulation. We observe the scan lines of vehicle become tangled of the straight road that make the cognitive abilities of the vehicle low and the lane-keeping is unable when vehicles entering curved off-roads over 40 km/h. The developed scenarios will contribute to enhancing stability from the perspective of introducing autonomous driving technology to Korean military.

• 한국군사과학기술학회지
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• 제14권6호
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• pp.993-1001
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• 2011

Unmanned ground vehicle for facility protection mostly uses model of territory for autonomous navigation. However, modeling of territory using several sensors is highly time consuming and sometimes inefficient for road application. Therefore, an estimation of drivable path based on features of road is required for high speed autonomous navigation on road. In this paper, an estimation method of drivable path using camera and 2D laser rangefinder is proposed. First, a vanishing point is estimated based on image data from CCD camera. Second, a road width is estimated based on range data from 2D laser rangefinder. Finally, the drivable path is estimated by fusing the vanishing point and the road width. The proposed method is tested on both well-structured road and unpaved road like cross-country situation.

• 환경영향평가
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• 제9권4호
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• pp.257-269
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• 2000

This study is to investigate the methodology and applicability on emission control by both MECHANICAL Model and Fugitive Dust Model (FDM) through the comparison of field measurement data and calculated data. Comparing to the method of AP-42 emission fector on the production of flying dust the MECHANICAL Model was proved to be more applicable to the calculation emission rate on the various dust emission conditions on a unpaved road. The seperate calculation on annual mean emission amount and a 24working hours amount was undertaken for the easy management of fugitive dust. Dust concentration predicted by FDM is similar with a measurement value.