• Title, Summary, Keyword: mobile robot

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The Position/Orientation Determination of a Mobile-Task Robot Using an Active Calibration Scheme

  • Jin, Tae-Seok;Lee, Jang-Myung
    • Journal of Mechanical Science and Technology
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    • v.17 no.10
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    • pp.1431-1442
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    • 2003
  • A new method of estimating the pose of a mobile-task robot is developed based upon an active calibration scheme. The utility of a mobile-task robot is widely recognized, which is formed by the serial connection of a mobile robot and a task robot. To be an efficient and precise mobile-task robot, the control uncertainties in the mobile robot should be resolved. Unless the mobile robot provides an accurate and stable base, the task robot cannot perform various tasks. For the control of the mobile robot, an absolute position sensor is necessary. However, on account of rolling and slippage of wheels on the ground, there does not exist any reliable position sensor for the mobile robot. This paper proposes an active calibration scheme to estimate the pose of a mobile robot that carries a task robot on the top. The active calibration scheme is to estimate a pose of the mobile robot using the relative position/orientation to a known object whose location, size, and shape are known a priori. For this calibration, a camera is attached on the top of the task robot to capture the images of the objects. These images are used to estimate the pose of the camera itself with respect to the known objects. Through the homogeneous transformation, the absolute position/orientation of the camera is calculated and propagated to get the pose of a mobile robot. Two types of objects are used here as samples of work-pieces: a polygonal and a cylindrical object. With these two samples, the proposed active calibration scheme is verified experimentally.

Precision control of a mobile/task robot using visual information (비젼 정보를 이용한 이동/작업용 로봇의 정밀제어)

  • 한만용;이장명
    • Journal of the Korean Institute of Telematics and Electronics S
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    • v.34S no.10
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    • pp.71-79
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    • 1997
  • This paper introduces a methodology of the precise control of a mobile/task robot using visual information captured bythe camera attached at the hand of the task robot. The major problem residing in the precise control of mobile/task robot is providing an accurate and stable base for the task robot through the precise control of mobile robot. On account of uncertainties on the surface, the precise control of mobile robot is not feasible without using external position sensor. In this paper, the methodology for the precise control of mobile robot is proposed, which recognizes the position of mobile robot using the camera attached at the hand of the task robot. While the task robot is approaching to an assembly part, the position of mobile robot is measured using the line correspondence between the image capturesd by the camera and the real assembly part, and using the kinematic transformation from the hand of the task robot to the mobile robot. To verify the solidness of this method, experimental data for the measurement of camera position/orientation and for the precise control of mobile robot using measurement are shown.

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Localization of a High-speed Mobile Robot Using Ultrasonic/RF Sensor and Global Features (RF/초음파센서와 이동특성에 기반한 고속 이동로봇의 위치추정기법)

  • Lee, Soo-Sung;Choi, Mun-Gyu;Park, Jae-Hyun;Lee, Jang-Myung
    • Journal of Institute of Control, Robotics and Systems
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    • v.15 no.7
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    • pp.734-741
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    • 2009
  • A new localization algorithm is proposed for a fast moving mobile robot, which utilizes only one beacon and the global features of the differential-driving mobile robot. It takes a relatively long time to localize a mobile robot with active beacon sensors since the distance to the beacon is measured by the traveling time of the ultrasonic signal. When the mobile robot is moving slowly the measurement time does not yield a high error. At a higher mobile robot speed, however, the localization error becomes too large to locate the mobile robot. Therefore, in high-speed mobile robot operations, instead of using two or more active beacons for localization, only one active beacon and the global features of the mobile robot are used to localize the mobile robot in this research. The two global features are the radius and center of the rotational motion for the differential-driving mobile robot which generally describe motion of the mobile robot and are used for the trace prediction of the mobile robot. In high speed operations the localizer finds an intersection point of this predicted trace and a circle which is centered at the beacon and has the radius of the distance between the mobile robot and the beacon. This new approach resolves the large localization error caused by the high speed of the mobile robot. The performance of the new localization algorithm has been verified through the experiments with a high-speed mobile robot.

Formation Control of Mobile Robot for Moving Object Tracking (이동물체 추적을 위한 이동로봇의 대형제어)

  • Oh, Young-Suk;Lee, Chung-Ho;Park, Jong-Hun;Kim, Jin-Hwan;Huh, Uk-Youl
    • The Transactions of The Korean Institute of Electrical Engineers
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    • v.60 no.4
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    • pp.856-861
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    • 2011
  • The mobile robot controller is designed to track the target and to maintain the formation at the same time. Formation control is included in mobile robot controller by extending the trajectory tracking algorithm. The dynamic model of mobile robot is used with kinematic model considering the practical physical parameters of mobile robot. The dynamic model of mobile robot transforms velocity control input of kinematic model into torque control input which is the practical control input of mobile robot. Formation controller of mobile robot is designed to satisfy Lyapunov stability by backstepping method. The designed formation controller is applied to the mobile robot for various target movements and simulated to confirm the Lyapunov stability.

Mobility-Aware Ad Hoc Routing Protocols for Networking Mobile Robot Teams

  • Das, Saumitra M.;Hu, Y. Charlie;Lee, C.S. George;Lu, Yung-Hsiang
    • Journal of Communications and Networks
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    • v.9 no.3
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    • pp.296-311
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    • 2007
  • Mobile multi-robot teams are useful in many critical applications such as search and rescue. Explicit communication among robots in such mobile multi-robot teams is useful for the coordination of such teams as well as exchanging data. Since many applications for mobile robots involve scenarios in which communication infrastructure may be damaged or unavailable, mobile robot teams frequently need to communicate with each other via ad hoc networking. In such scenarios, low-overhead and energy-efficient routing protocols for delivering messages among robots are a key requirement. Two important primitives for communication are essential for enabling a wide variety of mobile robot applications. First, unicast communication (between two robots) needs to be provided to enable coordination and data exchange. Second, in many applications, group communication is required for flexible control, organization, and management of the mobile robots. Multicast provides a bandwidth-efficient communication method between a source and a group of robots. In this paper, we first propose and evaluate two unicast routing protocols tailored for use in ad hoc networks formed by mobile multi-robot teams: Mobile robot distance vector (MRDV) and mobile robot source routing (MRSR). Both protocols exploit the unique mobility characteristics of mobile robot networks to perform efficient routing. Our simulation study show that both MRDV and MRSR incur lower overhead while operating in mobile robot networks when compared to traditional mobile ad hoc network routing protocols such as DSR and AODV. We then propose and evaluate an efficient multicast protocol mobile robot mesh multicast (MRMM) for deployment in mobile robot networks. MRMM exploits the fact that mobile robots know what velocity they are instructed to move at and for what distance in building a long lifetime sparse mesh for group communication that is more efficient. Our results show that MRMM provides an efficient group communication mechanism that can potentially be used in many mobile robot application scenarios.

Implementation and Control of an Extendable and Separable Mobile Robot Manipulator For Indoor Service (높이 조절 및 하체 분리형 실내용 서비스 이동 로봇의 제작 및 제어)

  • Ahn, Jae-Kook;Jung, Seul
    • Journal of the Institute of Electronics Engineers of Korea SC
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    • v.48 no.1
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    • pp.39-46
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    • 2011
  • This paper presents the implementation and control of a mobile manipulator robot for indoor service. The robot has two arms for tasks and a mobile base for mobility. The robot is designed to have several characteristics. Firstly, the robot has the capability of changing the height of the robot. Secondly, the robot can be changed into a balancing mode of two contact points from mobile mode of four contact points. The robot has a balancing mode like an inverted pendulum robot as well as mobile robot mode. Lastly, as a novel concept, the robot is designed to have the capability of separating into two systems, the robot ann and the mobile robot as well. The mobile base can be separately used for a cleaning service.

Visual Servoing of a Wheeled Mobile Robot with the Obstacle Avoidance based on the Nonlinear Optimization using the Modified Cost Function (수정된 비용함수를 이용한 비선형 최적화 방법 기반의 이동로봇의 장애물 회피 비주얼 서보잉)

  • Kim, Gon-Woo
    • The Transactions of The Korean Institute of Electrical Engineers
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    • v.58 no.12
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    • pp.2498-2504
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    • 2009
  • The fundamental research for the mobile robot navigation using the numerical optimization method is presented. We propose an image-based visual servo navigation algorithm for a wheeled mobile robot utilizing a ceiling mounted camera. For the image-based visual servoing, we define the composite image Jacobian which represents the relationship between the speed of wheels of a mobile robot and the robot's overall speed in the image plane. The rotational speed of wheels of a mobile robot can be directly related to the overall speed of a mobile robot in the image plane using the composite image Jacobian. We define the mobile robot navigation problem as an unconstrained optimization problem to minimize the cost function with the image error between the goal position and the position of a mobile robot. In order to avoid the obstacle, the modified cost function is proposed which is composed of the image error between the position of a mobile robot and the goal position and the distance between the position of a mobile robot and the position of the obstacle. The performance was evaluated using the simulation.

An Implementation of Sound Tracking Mobile Robot Using Sound Sensors (사운드 센서를 이용한 음원 추적 이동 로봇의 구현)

  • Woo, Him-Chan;Son, Hyeong-Gon;Lee, Seung-Hun;Joo, Moon G.
    • IEMEK Journal of Embedded Systems and Applications
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    • v.13 no.1
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    • pp.33-43
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    • 2018
  • In this paper, we describe an sound tracking mobile robot suitable for areas where GPS is not available. Sound sensors are attached to four sides of the robot in order to locate the person in a danger, and the robot is supposed to move to the yelling person. The traveling distance of the mobile robot is calculated by the encoder attached to the wheel of the mobile robot. The moving direction of the mobile robot is measured by a gyro sensor on the robot. When the person in danger pushes a button of the mobile robot, the mobile robot transmits the trajectory data to a designated server.

Real-Time Obstacle Avoidance of Autonomous Mobile Robot and Implementation of User Interface for Android Platform (자율주행 이동로봇의 실시간 장애물 회피 및 안드로이드 인터페이스 구현)

  • Kim, Jun-Young;Lee, Won-Chang
    • IEMEK Journal of Embedded Systems and Applications
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    • v.9 no.4
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    • pp.237-243
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    • 2014
  • In this paper we present an real-time obstacle avoidance technique of autonomous mobile robot with steering system and implementation of user interface for mobile devices with Android platform. The direction of autonomous robot is determined by virtual force field concept, which is based on the distance information acquired from 5 ultrasonic sensors. It is converted to virtual repulsive force around the autonomous robot which is inversely proportional to the distance. The steering system with PD(proportional and derivative) controller moves the mobile robot to the determined target direction. We also use PSD(position sensitive detector) sensors to supplement ultrasonic sensors around dead angle area. The mobile robot communicates with Android mobile device and PC via Ethernet. The video information from CMOS camera mounted on the mobile robot is transmitted to Android mobile device and PC. And the user can control the mobile robot manually by transmitting commands on the user interface to it via Ethernet.

Design and manufacturing of a mobile robot (이동 로봇의 설계와 생산)

  • 오세훈
    • 제어로봇시스템학회:학술대회논문집
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    • pp.971-974
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    • 1992
  • The mobile robot may be composed of a robot and an AGV. In this paper, the ynamics of a robot part, such as reaction forces or required torques, are studied with assumption of the AGV in motion. These forces of a mobile robot are different from those of an industrial robot. A new robot is deigned and manufactured for the mobile robot.

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