• 제목/요약/키워드: Autonomous tracking

검색결과 278건 처리시간 0.026초

Design of Fuzzy Logic System for Mobile Robot based on Visual Servoing

  • Song, Un-Ji;Yoo, Seog-Hwan;Choi, Byung-Jae
    • 한국정보기술응용학회:학술대회논문집
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    • 한국정보기술응용학회 2005년도 6th 2005 International Conference on Computers, Communications and System
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    • pp.113-117
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    • 2005
  • This paper describes a visual control scheme, fuzzy logic system for visual servoing of an autonomous mobile robot. An existing communication autonomous mobile robot always needs to keep the object in image to detect the moving object. This is a problem in an autonomous mobile robot for spontaneous activity. To solve it, some features for an object are taken from an image and then use in the design of fuzzy logic system for decision of moving location and direction of visual servoing contrivance(apparatus). So continuous tracking is possible by moving the visual servoing contrivance. We present some simulation results and further studies in the Section of Simulation and Concluding Remarks.

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무인 수중운동체의 $H_{\infty}$ 심도 및 방향 제어기 설계 ($H_{\infty}$ Depth and Course Controllers Design for Autonomous Underwater Vehicles)

  • 양승윤
    • 대한기계학회논문집A
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    • 제24권12호
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    • pp.2980-2988
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    • 2000
  • In this paper, H(sub)$\infty$ depth and course controllers of autonomous underwater vehicles using H(sub)$\infty$ servo control are proposed. An H(sub)$\infty$ servo problem is foumulated to design the controllers satisfying a robust tracking property with modeling errors and disturbances. The solution of the H(sub)$\infty$servo problem is as follows; firest, this problem is modified as an H(sub)$\infty$ control problem for the generalized plant that includes a reference input mode, and than a sub-optimal solution that satisfies a given performance criteria is calculated by LMI(Linear Matrix Inequality) approach, The H(sub)$\infty$depth and course controllers are designed to satisfy the robust stability about the modeling error generated from the perturbation of the hydrodynamic coefficients and the robust tracking property under disturbances(was force, wave moment, tide). The performances(the robustness to the uncertainties, depth and course tracking properties) of the designed controlled are evaluated with computer simulations, and finally these simulation results show the usefulness and applicability of the propose H(sub)$\infty$ depth and course control systems.

H$_\infty$ 서보제어를 이용한 무인 수중운동체의 심도 및 방향제어기 설계 (Depth and Course Controller Design of Autonomous Underwater Vehicles using H$_\infty$ Servo Control)

  • 김인수;정금영;양승윤;조상훈;정찬희;이만형
    • 제어로봇시스템학회:학술대회논문집
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    • 제어로봇시스템학회 2000년도 제15차 학술회의논문집
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    • pp.215-215
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    • 2000
  • In this paper, depth and course controllers of autonomous underwater vehicles using H$_{\infty}$ servo control are proposed. An H$_{\infty}$ servo problem is formulated to design the controllers satisfying a robust tracking property with modeling errors and disturbances. The solution of the H$_{\infty}$ servo problem is as follows: first, this problem is modified as an H$_{\infty}$ control problem for the generalized plant that includes a reference input mode, and then a sub-optimal solution that satisfies a given performance criteria is calculated by LMI(Linear Matrix Inequality) approach. The H$_{\infty}$ depth and course controllers ate designed to satisfy with the robust stability about the modeling error generated from the perturbation of the hydrodynamic coefficients and the robust tracking property under disturbances(wave force, wave moment, tide). The performances(the robustness to the uncertainties, depth and course tracking properties) of the designed controllers are evaluated with computer simulations, and finally these simulation results show the usefulness and application of the proposed H$_{\infty}$ depth and course control systems.

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4륜 독립구동형 농업용 플랫폼의 주행 궤적 추종 성능 향상을 위한 휠 슬립 검출 및 보상제어 알고리즘 연구 (Slip Detection and Control Algorithm to Improve Path Tracking Performance of Four-Wheel Independently Actuated Farming Platform)

  • 김봉상;조성우;문희창
    • 로봇학회논문지
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    • 제15권3호
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    • pp.221-232
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    • 2020
  • In a four-wheel independent drive platform, four wheels and motors are connected directly, and the rotation of the motors generates the power of the platform. It uses a skid steering system that steers based on the difference in rotational power between wheel motors. The platform can control the speed of each wheel individually and has excellent mobility on dirt roads. However, the difficulty of the straight-running is caused due to torque distribution variation in each wheel's motor, and the direction of rotation of the wheel, and moving direction of the platform, and the difference of the platform's target direction. This paper describes an algorithm to detect the slip generated on each wheel when a four-wheel independent drive platform is traveling in a harsh environment. When the slip is detected, a compensation control algorithm is activated to compensate the torque of the motor mounted on the platform to improve the trajectory tracking performance of the platform. The four-wheel independent drive platform developed for this study verified the algorithm. The wheel slip detection and the compensation control algorithm of the platform are expected to improve the stability of trajectory tracking.

GPS 정보를 이용한 지능형 차량의 자율 경로추적 제어 (Autonomous Tracking Control of Intelligent Vehicle using GPS Information)

  • 정병묵;석진우;조지승;이재원
    • 한국정밀공학회지
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    • 제25권10호
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    • pp.58-66
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    • 2008
  • In the development of intelligent vehicles, path tracking of unmanned vehicle is a basis of autonomous driving and automatic navigation. It is very important to find the exact position of a vehicle for the path tracking, and it is possible to get the position information from GPS. However the information of GPS is not the current position but the past position because a vehicle is moving and GPS has a time delay. In this paper, therefore, the moving distance of a vehicle is estimated using a direction sensor and a velocity sensor to compensate the position error of GPS. In the steering control, optimal fuzzy rules for the path tracking can be found through the simulation of Simulink. Real driving experiments show the fuzzy rules are good for the steering control and the position error of GPS is well compensated by the proposed estimation method.

RMAC를 적용한 어뢰형 무인잠수정(ISiMi)의 수평면 경로추종 제어 (Path Tracking Control Based on RMAC in Horizontal Plane for a Torpedo-Shape AUV, ISiMi)

  • 김영식;이지홍;김진하;전봉환;이판묵
    • 한국해양공학회지
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    • 제23권6호
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    • pp.146-155
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    • 2009
  • This paper considers the path tracking problem in a horizontal plane for underactuated (or non-holonomic) autonomous underwater vehicles (AUVs). Underwater mapping has been an important mission for AUVs. Recently, underwater docking has also become a main research field of AUVs. These kinds of missions basically require accurate attitude and trajectory control performance. However, the non-holonomic problem should be solved to achieve accurate path tracking for the torpedo-type of AUVs. In this paper, resolved motion and acceleration control (RMAC) is considered as a path tracking controller for an underactuated torpedo-shaped AUV, ISiMi. A set of numerical simulations is carried out to illustrate the effectiveness of the proposed RMAC scheme, and experimental data with ISiMi100 and discussions are presented.

높은 유효하중 능력과 다양한 벽면전환 능력을 가진 다관절 등반로봇의 개발 및 추종제어 (Development and Tracking Control of a Multi-Link Climbing Robot with High Payload Capacity and Various Transition Abilities)

  • 오종균;이기욱;김종원;서태원
    • 제어로봇시스템학회논문지
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    • 제19권10호
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    • pp.915-920
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    • 2013
  • Payload capacity and transition ability are essential for climbing robots to apply the robots to various applications such as inspection and exploration. This paper presents a new climbing robotic platform with multi-link structure of track-wheel modules to enhance payload capacity and transition ability, and its tracking controller design and experimental results. The compliances between track-wheel modules achieve stable internal and external transitions while the large adhesion area of the track-wheel module enhances the payload capacity of the robot. Kinematic model-based tracking controller is designed and implemented for autonomous internal transition, and the gains of the controller are optimized by experimental design. Experiments on the automatic internal transitions are performed and the results guarantee autonomous internal transition with little tracking error.

그룹이동타겟 추적을 위한 무인차량기반의 자가이동 네트워크 (Autonomous Unmanned Vehicle based Self-locomotion Network for Tracking Targets in Group Mobility)

  • 웬티탐;윤석훈
    • 한국통신학회논문지
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    • 제37권7C호
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    • pp.527-537
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    • 2012
  • 본 논문은 다수의 자율무인차량 (Autonomous Unmanned Ground Vehicle) 들이 서로 협력하여 그룹 이동하는 타겟을 추적하고 지속적인 커버리지를 제공하는 무인차량 기반의 추적 네트워크 (UVTN: Unmanned Vehicle based Tracking Network) 구조와 알고리즘을 제안한다. UVTN은 움직이는 사람 또는 사물을 추적 감시하거나 이동하는 구조팀 또는 병사들에게 지속적인 네트워크 Access를 제공해 주기 위하여 커버리지를 최대화 하는 것을 목적으로 한다. 이러한 목적을 달성하기 위하여 UVTN은 주기적인 네트워크 확장과 수축 과정을 통한 무인차량 노드 재배치 및 네트워크 토폴로지 최적화를 수행한다. 또한 본 논문에서는 평균 커버리지비율과 이동거리 관점에서의 성능향상을 위한 개선 알고리즘들이 제안된다. 시뮬레이션을 통해 UVTN과 개선 알고리즘들이 그룹이 동성을 갖는 대상을 효율적으로 추적하여 지속적인 커버리지를 제공할 수 있음을 보인다.

원격 감시카메라 자동추적시스템의 퍼지제어기 개발에 관한 연구 (Development of Fuzzy Controller for Camera Autotracking System)

  • 윤지섭;박영수
    • 대한기계학회논문집
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    • 제18권8호
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    • pp.2062-2072
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    • 1994
  • This paper presents the development of a fuzzy controller for driving camera pan/tilt device so that the camera's viewing direction can automatically track a moving object. To achieve computational efficiency a non-contact type displacement follower is used as a feedback sensor instead of a vision camera. The displacement follower, however, is extremely sensitive to object's lighting condition and results in unstable response at high speed. To this end, a fuzzy controller is developed in such a way to provide stable tracking performance at high speed where the sensory signal is subjected to intermittant disturbances of large magnitude. The test result shows stable tracking response even for high speed and non-uniform lighting condition. The resulting camera autotracking system can be adopted as an effective tool for visual transfer in the context of teleoperation and autonomous robotics.

Design and Implementation of UAV System for Autonomous Tracking

  • Cho, Eunsung;Ryoo, Intae
    • KSII Transactions on Internet and Information Systems (TIIS)
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    • 제12권2호
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    • pp.829-842
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    • 2018
  • Unmanned Aerial Vehicle (UAV) is diversely utilized in our lives such as daily hobbies, specialized video image taking and disaster prevention activities. New ways of UAV application have been explored recently such as UAV-based delivery. However, most UAV systems are being utilized in a passive form such as real-time video image monitoring, filmed image ground analysis and storage. For more proactive UAV utilization, there should be higher-performance UAV and large-capacity memory than those presently utilized. Against this backdrop, this study described the general matters on proactive software platform and high-performance UAV hardware for real-time target tracking; implemented research on its design and implementation, and described its implementation method. Moreover, in its established platform, this study measured and analyzed the core-specific CPU consumption.