• Proceedings of the KIEE Conference
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• 2008.07a
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• pp.1523-1524
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• 2008

이 논문에서는 주어진 복도 환경에서 원호경로 알고리즘을 제안함으로써 장애물 회피 알고리즘을 적용하였을 때 보다 이동로봇의 실제적 이동거리를 적게하고 또한 각속도의 변화를 적게하여 결과적으로 이동로봇에 가해지는 기계적, 에너지적 부담을 줄일수 있도록 하였다. 실험 결과는 제안된 알고리즘이 효율적임을 보여준다.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.62 no.12
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• pp.1737-1743
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• 2013

This paper proposes the range and velocity of the object estimation method using a moving camera. Structure and motion (SaM) estimation is to estimate the Euclidean geometry of the object as well as the relative motion between the camera and object. Unlike the previous works, the proposed estimation method can relax the camera and object motion constraints. To this end, we arrange the dynamics of moving camera-moving object relative motion model in an appropriate form such that the nonlinear observer can be employed for the SaM estimation. Through both simulations and experiments we have confirmed the validity of the proposed estimation algorithm.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.57 no.7
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• pp.1260-1272
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• 2008

This paper proposes object detection algorithm using laser scanner and vision system for the path planning of autonomous mobile agents. As the scanner-based method can observe the obstacles in only two dimensions, it is hard to detect the shape and the number of obstacles. On the other hand, vision-based method is sensitive to the environment and has its difficulty in the accurate distance measurement. Thus, we combine these two methods based on K-means algorithm such that the obstacle avoidance and optimal path planning of autonomous mobile agents can be achieved.

• Proceedings of the KIEE Conference
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• 2007.10a
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• pp.295-296
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• 2007

본 논문에서는 무인화 ATV 엔진 액츄에이터의 시스템 특수성을 고려한 PID 제어기의 설계를 통하여 종방향 구동을 담당하는 DC 모터의 위치제어 성능을 향상시켰다. DC 모터의 문턱 전압과 마찰력으로 인한 데드존(Dead zone)을 고려하였으며, DC 모터에 연결된 액츄에이터 와이어에 의한 복원력에 대한 영향을 최소화 시켰다. 또한 DC모터의 위치를 판별하는 엔코더의 분해능을 감안하여 제어기 설계에 반영하였고, 실험을 통하여 성능을 검증하였다.

• Proceedings of the KIEE Conference
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• 2007.10a
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• pp.385-386
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• 2007

This paper proposes obstacle detection and classification algorithm using a single laser scanner. The proposed algorithm searches the object singular points using a differential equation, and finds obstacle singular points shows a boundary of obstacle. And the proposed algorithm can classify object even if several obstacles overlapped. Simulation results show the feasibility of proposed algorithm using a single laser scanner, not using several laser scanners.

• Proceedings of the KIEE Conference
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• 2007.10a
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• pp.337-338
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• 2007

센서네트워크를 이용한 광대역 환경에서의 시스템 모니터링 기술에 대한 연구가 많이 이뤄지고 있으며, 능동형 센서네트워크를 구성하기 위한 무인 차량에 관한 연구 또한 진행되고 있다. 본 논문에서는 능동형 센서네트워크를 구성하기 위해 레이저 스캐너가 장치된 무인 ATV를 이용하여 ATV 스스로 장애물을 판별함과 동시에 새로운 경로를 생성하여 회피하는 알고리즘을 제안하고자 한다.

• Proceedings of the KIEE Conference
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• 2007.10a
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• pp.339-340
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• 2007

This paper proposes a object avoidance algorithm that enables a mobile robot with laser scanner. Object detecting system has a function to detect object in front of the mobile robot by using a laser scanner. The proposed method based on probability distribution and finds local-paths to avoid collisions. Simulation results show the feasibility of the proposed method.

• Proceedings of the KIEE Conference
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• 2007.10a
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• pp.505-506
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• 2007

일반적으로 저가 장비를 이용한 수신 신호 강도(RSSI)의 측정은 전파의 특성상 다소 부정확한 정보를 제공하고, 이는 최소평균제곱오차(MMSE)를 이용한 위치 추정 방법에 있어 큰 오차 요인으로 작용한다. 따라서 이 논문에서는 수신 신호 강도를 이용한 기존의 위치 추정 방법을 개선하기 위해 센서 네트워크상의 유효 노드선정 알고리즘을 제시한다. 그리고 개선된 방법을 이용하여 센서 네트워크 기반의 실내 위치 추정 시스템을 구현 한다. 끝으로, 개선된 방법의 성능 검증을 위한 실험 결과를 제시 한다.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.62 no.3
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• pp.407-413
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• 2013

This paper proposes anti-swing control of overhead crane system using sum of squares method. The dynamic equations of overhead crane include nonlinear terms, which are transformed into polynomials by using Taylor series expansion. Therefore the dynamic equation of overhead crane can be changed to the system of polynomial equation. On the basis of polynomial dynamics of crane system, we propose the Sum of Squares (SOS) conditions considering the input constraints. In addition, control gains are obtained by numerical tool which is called by SOSTOOL. The effectiveness of the proposed method is demonstrated by numerical simulation.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.65 no.12
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• pp.2053-2056
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• 2016

In this paper, we propose an output feedback tracking control method for the wheeled mobile robots with kinematic disturbances. The kinematic disturbances should be compensated to avoid the performance degradation. Also, the unavailable velocity of the mobile robot should be estimated. These should be estimated together by designing the nonlinear observer. Based on these estimates, the output feedback controller can be designed. The stability of the mobile robot control systems using the proposed method is rigorously analyzed and the simulation results are also provided to validate the proposed method.