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논문 기본 정보

자료유형
학술저널
저자정보
김준 (국방과학연구소) 민지홍 (국방과학연구소) 곽기호 (국방과학연구소) 배건성 (경북대학교)
저널정보
제어로봇시스템학회 제어로봇시스템학회 논문지 제어로봇시스템학회 논문지 제23권 제2호
발행연도
2017.2
수록면
67 - 75 (9page)
DOI
10.5302/J.ICROS.2017.16.0204

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이 논문의 연구 히스토리 (4)

초록· 키워드

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Fixed-type surveillance and reconnaissance systems have been developed to improve the operational efficiency of the systems by being mounted and operated on a movable platform that has autonomous driving technology such as environment recognition and path planning/decision-making. Research on autonomous driving technology such as environmental awareness is also increasing as a way to improve the operability of such unmanned vehicles for surveillance. In this paper, we propose a probabilistic analysis method of the traversable area for stable running of surveillance and reconnaissance unmanned vehicles running on paved/unpaved roads. The lateral slope feature was defined for effective expression and analysis of the road environment, and the model for the travelable area was created based on the identified features using the pre-analysis information of the traversable area. The sensor data of the unit frame was transformed into a probability map of the movable area by using the generated movable area model, and the map of the travelable area that is sequentially generated was updated with reliable maps through Bayes formula based probabilistic updating. The proposed method was applied as an environment recognition method for autonomous navigation of unmanned vehicles for surveillance and reconnaissance, and obtained results of successful operation in a pavement and off-road environment.

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Abstract
I. 서론
II. 주행가능 영역 검출
III. 실험결과
IV. 결론
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UCI(KEPA) : I410-ECN-0101-2017-003-002130838