The sensor fusion design and performance analysis of unmanned vehicle for the tele-operation system

Author

Yun, Duk-Sun ; Shim, Jae-Heung ; Kim, Min-seok ; Park, Young-Hoon ; Kim, Jung-Ha

Author_Institution

Graduate Sch. of Autom. Eng., Kookmin Univ., Seoul, South Korea

Volume

3

fYear

2001

fDate

2001

Firstpage

1425

Abstract

The subject of this paper is sensor fusion analysis of the tele-operation unmanned vehicle. The whole system target is studied in context of a motor control system, algorithms for the high level control of a tele-operation unmanned vehicle and integration of driving simulator and unmanned vehicle. The master system has a host computer and simulator, the slave system is an electronic vehicle system. The slave vehicle system consists of three parts. First, the laser sensor system for keeping the front sensory system and ultrasonic sensor system for keeping the side avoiding collision. Second, the acceleration system and brake control system for longitudinal motion control. Third, the steering control system for lateral motion control. In this research, mechanical and electronic parts are implemented to operate the unmanned vehicle as a whole-integrated system. We show the experimental result about fixed brake range test, handling performance and acceleration test. The system integrates a driving simulator and the unmanned vehicle

Keywords

DC motor drives; acceleration control; braking; collision avoidance; digital simulation; motion control; remotely operated vehicles; sensor fusion; traffic engineering computing; ultrasonic transducers; DC motor drive; acceleration system; acceleration test; brake control system; driving simulator; electronic vehicle system; fixed brake range test; front sensory system; handling performance; host computer; laser sensor system; lateral motion control; longitudinal motion control; master system; motor control system; performance analysis; sensor fusion analysis; sensor fusion design; side avoiding collision; slave system; slave vehicle system; steering control system; tele-operation system; tele-operation unmanned vehicle; ultrasonic sensor system; unmanned vehicle; Computational modeling; Control systems; Level control; Motion control; Motor drives; Performance analysis; Sensor fusion; Sensor systems; Testing; Vehicle driving;

fLanguage

English

Publisher

ieee

Conference_Titel

Industrial Electronics, 2001. Proceedings. ISIE 2001. IEEE International Symposium on

Conference_Location

Pusan

Print_ISBN

0-7803-7090-2

Type

conf

DOI

10.1109/ISIE.2001.931914

Filename

931914