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Fuzzy Algorithm Development for the Integration of Vehicle Simulator with All Terrain Unmanned Vehicle
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Duk Sun Yun (Graduate School of Automotive Engineering at Kookmin University)
Hwan Sin Yu (Graduate School of Automotive Engineering at Kookmin University)
Ha Young Lim (Graduate School of Automotive Engineering at Kookmin University)
Vol. 11, No. 2, Page: 47 ~ 57
Abstract
In this research, the main theme is the system integration of driving simulator and unmanned vehicle. The total system is composed of the mater system and the slave system. The master system has a cockpit system and the driving simulator. The slave system means an unmanned vehicle, which is composed of the actuator system the sensory system and the vision system. The communication system is composed of RS-232C serial communication system which combines the master system with the slave system. To integrate both systems, the signal classification and system characteristics considered DSP(Digital Signal Processing) filter is designed with signal sampling and measurement theory. In addition, to simulate the motion of tele-operated unmanned vehicle on the driving simulator, the classical washout algorithm is applied to this filter, because the unmanned vehicle does not have a limited working space, while the driving simulator has a narrow working space and it is difficult to cover all the motion of the unmanned vehicle. Because the classical washout algorithm has a defect of fixed high pass later, fuzzy logic is applied to reimburse it through an adaptive filter and scale factor for realistic motion generation on the driving simulator.
Show/Hide Detailed Information in Korean
험로 주행용 무인차량과 차량 시뮬레이터의 융합을 위한 퍼지 알고리즘 개발
윤득선 (국민대학교 자동차전문대학원)
유환신 (국민대학교 자동차전문대학원)
임하영 (국민대학교 자동차전문대학원)
Keywords
무인자동차, 필터, 퍼지제어, 시각 시스템
Abstract
본 논문에서는 험로를 주행하는 무인 자동차의 운동을 재현하는 차량 시뮬레이터의 운동큐를 생성함에 있어서 중요한 인자들을 결정할 때 충실한 재현을 위하여 필터를 적용하였다. 그러나 필터의 성능한계와 차량운동을 재현하는 워시아웃 알고리즘의 한계를 극복하기 위한 방안으로 퍼지논리를 이용한 필터의 설계를 하여 실차 실험에 적용하였고 향후의 연구방향을 제시하였다.
Cite this article
JIIS Style
Yun, D. S., H. S. Yu, and H. Y. Lim, "Fuzzy Algorithm Development for the Integration of Vehicle Simulator with All Terrain Unmanned Vehicle", Journal of Intelligence and Information Systems, Vol. 11, No. 2 (2005), 47~57.

IEEE Style
Duk Sun Yun, Hwan Sin Yu, and Ha Young Lim, "Fuzzy Algorithm Development for the Integration of Vehicle Simulator with All Terrain Unmanned Vehicle", Journal of Intelligence and Information Systems, vol. 11, no. 2, pp. 47~57, 2005.

ACM Style
Yun, D. S., Yu, H. S., and Lim, H. Y., 2005. Fuzzy Algorithm Development for the Integration of Vehicle Simulator with All Terrain Unmanned Vehicle. Journal of Intelligence and Information Systems. 11, 2, 47--57.
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@article{Yun:JIIS:2005:228,
author = {Yun, Duk Sun and Yu, Hwan Sin and Lim, Ha Young},
title = {Fuzzy Algorithm Development for the Integration of Vehicle Simulator with All Terrain Unmanned Vehicle},
journal = {Journal of Intelligence and Information Systems},
issue_date = {November 2005},
volume = {11},
number = {2},
month = Nov,
year = {2005},
issn = {2288-4866},
pages = {47--57},
url = {},
doi = {},
publisher = {Korea Intelligent Information System Society},
address = {Seoul, Republic of Korea},
}
%0 Journal Article
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%A Duk Sun Yun
%A Hwan Sin Yu
%A Ha Young Lim
%T Fuzzy Algorithm Development for the Integration of Vehicle Simulator with All Terrain Unmanned Vehicle
%J Journal of Intelligence and Information Systems
%@ 2288-4866
%V 11
%N 2
%P 47-57
%D 2005
%R
%I Korea Intelligent Information System Society