• Title/Summary/Keyword: autonomous robot

Search Result 66, Processing Time 0.54 seconds

Remote Control of Autonomous Robots via Internet

  • Sugisaka, Masanori;Johari, Mohd Rizon M
    • 제어로봇시스템학회:학술대회논문집
    • /
    • 2004.08a
    • /
    • pp.24-27
    • /
    • 2004
  • This paper describes the method how to control an autonomous robot remotely using Internet. The autonomous robot that has an artificial brain is called "Tarou". (1) It is able to move along the line on the floor based on processing the image data obtained from two CCD cameras. (2) It is able to understand dialogs between human being and it and is able to take actions such as turn right and lefts, go forward 1m and go backward 0.5m, etc. (3) It is able to recognize patterns of objects. (4) It is able to recognize human faces. (5) It is able to communicate human being and to speak according to contents written in the program. We show the techniques to control the autonomous robot "Tarou" remotely by personal computer and/or portable Phone via Internet. The techniques developed in our research could dramatically increase their performance for..the need of artificial life robot as the next generation robot and national homeland security needs.

  • PDF

Robust Adaptive Control of Autonomous Robot Systems with Dynamic Friction Perturbation and Its Stability Analysis (동적마찰 섭동을 갖는 자율이동 로봇 시스템의 강인적응제어 및 안정성 해석)

  • Cho, Hyun-Cheol;Lee, Kwon-Soon
    • Journal of Institute of Control, Robotics and Systems
    • /
    • v.15 no.1
    • /
    • pp.72-81
    • /
    • 2009
  • This paper presents a robust adaptive control method using model reference control strategy against autonomous robot systems with random friction nature. We approximate a nonlinear robot system model by means of a feedback linearization approach to derive nominal control law. We construct a Least Square (LS) based observer to estimate friction dynamics online and then represent a perturbed system model with respect to approximation error between an actual friction and its estimation. Model reference based control design is achieved to implement an auxiliary control in order for reducing control error in practice due to system perturbation. Additionally, we conduct theoretical study to demonstrate stability of the perturbed system model through Lyapunov theory. Numerical simulation is carried out for evaluating the proposed control methodology and demonstrating its superiority by comparing it to a traditional nominal control method.

Parameter Sensitivity Analysis of Autonomous Robot Vehicle for Trajectory Error and Friction Force (자율 주행 반송차의 궤적 오차와 마찰력에 대한 매개 변수의 민감도 해석)

  • 김동규;박기환;김수현;곽윤근
    • Transactions of the Korean Society of Automotive Engineers
    • /
    • v.4 no.2
    • /
    • pp.115-126
    • /
    • 1996
  • In order to obtain the principal design data for developing the Autonomous Robot Vehicle(ARV), Sensitivity analysis on the trajectory error and friction force with respect to the dynamic parameters is performed. In the straight motion, the trajectory error has been proved to be much affected by the mass variance of the ARV while the lateral friction force is much affected by the location of the mass center. In the curved motion, the effect of mass and moment of inertia is considered importantly. In addition, the lateral offset gives more effect than the geometric dimension of the ARV on the trajectory errors and friction force.

  • PDF

A Study on Intelligence Navigation for Autonomous Mobile Robot Using Fuzzy Logic Control

  • Huh, Dei-Jeung;Lee, Woo-Young;Huh, Uk-Youl
    • 제어로봇시스템학회:학술대회논문집
    • /
    • 2001.10a
    • /
    • pp.138.5-138
    • /
    • 2001
  • The autonomous robot has the ability of obstacle avoidance and target tracking with some manufactured information. In this paper, it is shown that autonomous mobile robot can avoid fixed obstacles using the map made before and the fuzzy controller is adopted with the global path planing and the local path planing when the robot navigates. With that map sensor, information will be used when an autonomous robot navigates. This paper proves that robot can navigate through optimized route and keep the stable condition.

  • PDF

A Study on Standardization of Performance Evaluation for Autonomous Cleaning Robot (자율청소로봇 성능평가 표준화에 관한 연구)

  • Ryu Jae-Chang;Hong Ju-Pyo;Rhim Sung-Soo;Lee Soon-Geul;Park Kwang-Ho
    • Proceedings of the Korean Society of Precision Engineering Conference
    • /
    • 2005.06a
    • /
    • pp.1054-1059
    • /
    • 2005
  • To support the expansion of the autonomous robot market, the establishment of evaluation standards of the robot performance are essential. In this paper, to venture the standardization of the performance evaluation of the autonomous robot, the authors take the autonomous cleaning robot(ACR) as the initial stepping stone. Recently, the ACR has been being developed and marketed actively in many countries including Korea and it believes to be the fore-runner among various types of autonomous robot products. Standards of the performance evaluation for the ACR could be easily modified and applied to other autonomous robots. This paper formulates and suggests a group of standards for the performance evaluation based on a evaluation platform for the ACR. The newly developed performance evaluation platform has been designed to include all the important aspects of living environments in reality. In the platform the performance of the ACR is measured in terms of mobility, cleaning performance, avoidance of obstruction(safety), and operation noise. A few commercially available ACR products are collected and tested in the evaluation platform and compared against the performance evaluation standards formulated.

  • PDF

3-D simulator for development of reactive/deliberative hybrid autonomous robot architecture (자율로봇을 위한 reactive/deliberative hybrid 제어 구조 개발을 위한 3차원 시뮬레이터)

  • Yoon, Do-Young;Kim, Young-Chul;Oh, Sang-Rok;Park, Gwi-Tae;Cho, Woong-Ryul;Suh, Il-Hong;Kim, Kwang-Bae
    • Proceedings of the KIEE Conference
    • /
    • 2000.07d
    • /
    • pp.2880-2882
    • /
    • 2000
  • In the case of designing autonomous robot architecture using deliberative and reactive control methods, we can use mixed hybrid form as well as purely reactive scheme or purely deliberative scheme respectively according to its own goal and environment within the robot operates, It needs time and endeavors to design robot control architecture in either case above. In our research, we implemented a 3-dimensional robot simulator in order to help designing reactive/deliberative autonomous robot control architecture by offering methods which is capable of selecting design parameters and confirming its performances. It can be used, of course, to design purely reactive or purely deliberative architecture. The architecture and performance of simulator is shown and a sample hybrid robot architecture designed with the simulator is introduced in this article.

  • PDF

A Path Navigation Algorithm for an Autonomous Robot Vehicle by Sensor Scanning (센서 스캐닝에 의한 자율주행로봇의 경로주행 알고리즘)

  • Park, Dong-Jin;An, Jeong-U;Han, Chang-Su
    • Journal of the Korean Society for Precision Engineering
    • /
    • v.19 no.8
    • /
    • pp.147-154
    • /
    • 2002
  • In this paper, a path navigation algorithm through use of a sensor platform is proposed. The sensor platform is composed of two electric motors which make panning and tilting motions. An algorithm for computing a real path and an obstacle length is developed by using a scanning method that controls rotation of the sensors on the platform. An Autonomous Robot Vehicle(ARV) can perceive the given path by adapting this algorithm. A sensor scanning method is applied to the sensor platform for using small numbers of sensor. The path navigation algorithm is composed of two parts. One is to perceive a path pattern, the other is used to avoid an obstacle. An optimal controller is designed for tracking the reference path which is generated by perceiving the path pattern. The ARV is operated using the optimal controller and the path navigation algorithm. Based on the results of actual experiments, this algorithm for an ARV proved sufficient for path navigation by small number of sensors and for a low cost controller by using the sensor platform with a scanning method.

Autonomous Robot Kinematic Calibration using a Laser-Vision Sensor (레이저-비전 센서를 이용한 Autonomous Robot Kinematic Calibration)

  • Jeong, Jeong-Woo;Kang, Hee-Jun
    • Journal of the Korean Society for Precision Engineering
    • /
    • v.16 no.2 s.95
    • /
    • pp.176-182
    • /
    • 1999
  • This paper presents a new autonomous kinematic calibration technique by using a laser-vision sensor called "Perceptron TriCam Contour". Because the sensor measures by capturing the image of a projected laser line on the surface of the object, we set up a long, straight line of a very fine string inside the robot workspace, and then allow the sensor mounted on a robot to measure the point intersection of the line of string and the projected laser line. The point data collected by changing robot configuration and sensor measuring are constrained to on a single straght line such that the closed-loop calibration method can be applied. The obtained calibration method is simple and accurate and also suitable for on-site calibration in an industrial environment. The method is implemented using Hyundai VORG-35 for its effectiveness.

  • PDF

Online Dynamic Modeling of Ubiquitous Sensor based Embedded Robot Systems using Kalman Filter Algorithm (칼만 필터 알고리즘을 이용한 유비쿼터스 센서 기반 임베디드 로봇시스템의 온라인 동적 모델링)

  • Cho, Hyun-Cheol;Lee, Jin-Woo;Lee, Young-Jin;Lee, Kwon-Soon
    • Journal of Institute of Control, Robotics and Systems
    • /
    • v.14 no.8
    • /
    • pp.779-784
    • /
    • 2008
  • This paper presents Kalman filter based system modeling algorithm for autonomous robot systems. State of the robot system is measured using embedded sensor systems and then carried to a host computer via ubiquitous sensor network (USN). We settle a linear state-space motion equation for unknown robot system dynamics and modify a popular Kalman filter algorithm in deriving suitable parameter estimation mechanism. To represent time-delay nature due to network media in system modeling, we construct an augmented state-space model which is mainly composed of original state and estimated parameter vectors. We conduct real-time experiment to test our proposed estimation algorithm where speed state of the constructed robot is used as system observation.