• The Journal of the Korea institute of electronic communication sciences
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• v.16 no.3
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• pp.565-570
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• 2021

Agriculture in South Korea is losing productivity due to the lack of manpower as aging population increases. To overcome this, the agricultural robot market is growing rapidly, and research is being conducted on remote control and autonomous driving of agricultural robots. This work designs the appearance and structure of agricultural robots and implements the devices and control systems for driving. By utilizing and optimizing LiDAR sensors, we applied object recognition technology, which is an essential function for autonomous driving. This can reduce labor costs and improve productivity of transportation tasks that require the most labor in agriculture.

• Journal of rehabilitation welfare engineering & assistive technology
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• v.6 no.1
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• pp.17-27
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• 2012

This study provides development information on Omni-Wheel Drive Rider Robot, futuristic electric scooters, with autonomous driving systems that are used for people including the disabled and senior. Also, it is meaningful in suggesting alternatives to replace motorized wheelchairs or electric scooters for the future. Prior to development of Omni-Wheel Drive Rider Robot with autonomous driving systems, it surveyed 49 people, including 18 people who own electric scooters and 31 senior people who have not. The summary of the survey is as follows. First, inconveniences during riding and exiting and short mileage due and safety driving to problems of recharging batteries are the most urgent task. For these problems, the study shows that charging time of batteries, mileage, armrests, footrests, angle of a seat are the primary considerations. Second, drivers prefer joystick over steering wheels because of convenience in one-handed driving against dangers from footrest and carriageways sloping roads, paving blocks. One-handed driving can reduce driving fatigues with automatic stop systems. Moreover, the study suggests many design factors related to navigation systems, obstacle avoidance systems, omni-wheels, automatic cover-opening systems in rainy.

• Journal of IKEEE
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• v.25 no.3
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• pp.437-444
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• 2021

In this paper, we propose an autonomous driving algorithm that allows a robot to explore various terrains, and implement an application that can monitor the robot's movement path during terrain search. The implemented application consists of a status unit that indicates the position, direction, speed, and motion of the mobile robot, a map unit that displays terrain information obtained through terrain search, and a control unit that controls the movement of the mobile robot. In order to control the movement of the robot, only the start and stop of the search/return is commanded by the application, and all driving for the search is performed autonomously. The basic algorithm for terrain search uses an infrared sensor to check for obstacles in the order of left, front, right, and rear, and if there is no obstacle and the path traveled is a dead end, it returns to the previous position and moves in the other direction to continue the search. Repeat the process to explore the terrain.

• The Journal of the Korea Contents Association
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• v.19 no.12
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• pp.164-172
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• 2019

In this paper, we implement a wheeled mobile robot that accurately and autonomously finds the optimal route from the starting point to the destination point based on computer vision in a complex indoor environment. We get a number of waypoints from the starting point to get the best route to the target through deep reinforcement learning. However, in the case of autonomous driving, the majority of cases do not reach their destination accurately due to external factors such as surface curvature and foreign objects. Therefore, we propose an algorithm to deepen the waypoints and destinations included in the planned route and then correct the route through the waypoint recognition while driving to reach the planned destination. We built an autonomous wheeled mobile robot controlled by Arduino and equipped with Raspberry Pi and Pycamera and tested the planned route in the indoor environment using the proposed algorithm through real-time linkage with the server in the OSX environment.

• 제어로봇시스템학회:학술대회논문집
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• 2001.10a
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• pp.105.5-105
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• 2001

This paper describes a fuzzy steering controller for an autonomous mobile robot with MR sensor. Using the magnetic field(Bx, By, Bz) obtained from the MR sensor, we designed fuzzy controller for driving on the road center. Fuzzy rule base was built to magnetic field(Bx, By, Bz). To develop an autonomous mobile robot simulation program, we have done modeling MR sensor, dynamic model of mobile robot and coordinate transformation. A computer simulation of the robot including mobile robot dynamics and steering was used to verify the steering performance of the mobile robot controller using the fuzzy logic Good results were obtained by computer simulation. So, we confirmed the robustness of the proposed fuzzy controller by computer ...

• The Journal of Korea Robotics Society
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• v.18 no.1
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• pp.93-98
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• 2023

In this paper, the development of an autonomous electric vehicle for logistics with a robotic arm is introduced. The manual driving electric vehicle was converted into an electric vehicle platform capable of autonomous driving. For autonomous driving, an encoder is installed on the driving wheels, and an electronic power steering system is applied for automatic steering. The electric vehicle is equipped with a lidar sensor, a depth camera, and an ultrasonic sensor to recognize the surrounding environment, create a map, and recognize the vehicle location. The odometry was calculated using the bicycle motion model, and the map was created using the SLAM algorithm. To estimate the location of the platform based on the generated map, AMCL algorithm using Lidar was applied. A user interface was developed to create and modify a waypoint in order to move a predetermined place according to the logistics process. An A-star-based global path was generated to move to the destination, and a DWA-based local path was generated to trace the global path. The autonomous electric vehicle developed in this paper was tested and its utility was verified in a warehouse.

• Proceedings of the Korean Institute of Building Construction Conference
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• 2023.05a
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• pp.221-222
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• 2023

The purpose of this study is to analyze the applicability and limitations of SPOT robots in the construction industry. The SPOT robot, which is being introduced to construction sites for smart construction with the progress of the 4th industrial revolution, is shaped like a four-legged dog and is equipped with various sensors for data collection and autonomous driving. In this study, hardware and software were analyzed, such as the size of the SPOT robot, mobility on slopes and heights, operating environment, and software functions that can collect data with a sensor weighing up to 14 kg. In addition, while the SPOT robot operates in a construction environment, performance such as stability, accuracy, signal connection distance, and obstacle avoidance are evaluated, and the applicability and limitations of the SPOT robot in the construction industry are analyzed. Based on this analysis, the purpose of this study is to evaluate when and how SPOT robots can be effectively used at construction sites, identify limitations, and derive contributions and improvements for the construction industry.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2012.05a
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• pp.943-944
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• 2012

• The Journal of Korean Institute of Communications and Information Sciences
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• v.42 no.1
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• pp.205-213
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• 2017

This paper is a study on the method to derive the functional level required for autonomous unmanned ground vehicle, one of the defense robots. Conventional weapon systems are not significantly affected by the operating environment, while defense robots exhibit different performance depending on the operating environment, even if they are on the same platform. If the performance of defense robot is different depending on operational environment, results of mission performance will be vary significantly. Therefore, it is necessary to clarify the level of function required by the military in order to research and develop most optimal defense robots. In this thesis, we propose a method to derive the required function level of unmanned ground vehicles, focusing on autonomous driving, one of the most vital functions of defense robots. Our results showed that the autonomous driving function depending intervention levels and evaluated functional sensitivity for autonomous driving of the unmanned vehicle using climate and topography as variables.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.31 no.4B
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• pp.278-284
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• 2006

In thispaper, we designed a intelligent autonomous driving robot by using Fuzzy algorithm. The object of designed robot is recognition of obstacle, avoidance of obstacle and safe arrival. We append a suspension system to auxiliary wheel for improvement in stability and movement. The designed robot can arrive at destination where is wanted to go by the old and the weak and the handicapped at indoor hospital and building.