SENSOR GUIDED UNMANNED VEHICLE SYSTEM FOR THE TELE-OPERATION
Sang-Gyum Kim, Heechang Moon, Chang-Man Kim, Young-Hoon Park, Jung-Ha Kim · 2001
The main subject of this paper is dealt with sensor fusion analysis for the tele operating unmanned vehicle. The whole system target is studied in context of motor control system, algorithms for the high level control of tele operating unmanned vehicle and integration with driving simulator. The master system has host computer and simulator and slave system is equipped with electronic vehicle system. The slave vehicle system consists of three parts. First, laser sensor and ultra sonic sensor systems for keeping the side escaping collision and the obstacle avoidance and vision system for lane tracking. Second, acceleration and brake control systems for longitudinal motion control. Third, steering control system for lateral motion control. In this research, mechanical and electronic parts are implemented to operate unmanned vehicle as a whole-integrated system. And we show the experimental results about brake range, handling performance and acceleration tests. 1.