• 제어로봇시스템학회:학술대회논문집
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• 2002.10a
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• pp.108.1-108
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• 2002

This paper is willing to propose a method of wall tracing, a moving algorithm between two points, when a Cleaning robot between two points moves. We use the information about obstacles and wall side in calculating different weight vector the each infrared sensors in cleaning robot. Therefore the cleaning robot navigates the wall. In the algorithm of wall tracing, the value of error in angle and distance between starting point and ending point should be zero to navigate the wall safely. The propriety of algorithm of the wall tracing is simulated as this method by using Visual C++. The result simulated proved to the simulation.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 1997.04a
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• pp.25-29
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• 1997

In this thesis, we construct the microrobot succor system and navigate the real-time path planning and visual tracking of each robot. The system consists robots, vision system and a host computer. Because the robots are free-ranging mobile robot, it is needed to make and gallow the path. The path is planned and controlled by a host computer, ie. Supervisory control system. In path planning, we suggest a cost function which consists of three terms. One is the smoothness of the path, another is the total distance or time, and the last one is to avoid obstacles. To minimize the cost function, we choose the parametric cubic spline and update the coefficients in real time. We perform the simulation for the path planing and obstacle avoidance and real experiment for visual tracking

• Journal of the Korean Society of Industry Convergence
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• v.21 no.2
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• pp.95-101
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• 2018

This paper presents a collision free mobile robot navigation based on the fuzzy inference fusion model in unkonown environments using multi-ultrasonic sensor. Six ultrasonic sensors are used for the collision avoidance approach where CCD camera sensors is used for the trajectory following approach. The fuzzy system is composed of three inputs which are the six distance sensors and the camera, two outputs which are the left and right velocities of the mobile robot's wheels, and three cost functions for the robot's movement, direction, obstacle avoidance, and rotation. For the evaluation of the proposed algorithm, we performed real experiments with mobile robot with ultrasonic sensors. The results show that the proposed algorithm is apt to identify obstacles in unknown environments to guide the robot to the goal location safely.

• Proceedings of the Korean Society of Broadcast Engineers Conference
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• 2009.01a
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• pp.732-736
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• 2009

In this paper we focus on EPI (Epipolar-Plane Image), the horizontal cross section of Ray-Space, and we propose a novel method that chooses objects we want and edits scenes by using multi-view images. On the EPI acquired by camera arrays uniformly distributed along a line, all the objects are represented as straight lines, and the slope of straight lines are decided by the distance between objects and camera plane. Detecting a straight line of a specific slope and removing it mean that an object in a specific depth has been detected and removed. So we propose a scheme to make a layer of a specific slope compete with other layers instead of extracting layers sequentially from front to back. This enables an effective removal of obstacles, object manipulation and a clearer 3D scene with what we want to see will be made.

• 제어로봇시스템학회:학술대회논문집
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• 2000.10a
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• pp.164-164
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• 2000

This paper proposes a moving window technique that extracts lanes and vehicles using the images captured by a CCD camera equipped inside an automobile in real time. For the purpose, first of all the optimal size of moving window is determined based upon speed of the vehicle, road curvature, and camera parameters. Within the moving windows that are dynamically changing, lanes and vehicles are extracted, and the vehicles within the driving lanes are classified as obstacles. Assuming highway driving, there are two sorts of image-objects within the driving lanes: one is ground mark to show the limit speed or some information for driving, and the other is the vehicle as an obstacle. Using characteristics of three-dimension objects, a neural network can be trained to distinguish the vehicle from ground mark. When it is recognized as an obstacle, the distance from the camera to the front vehicle can be calculated with the aids of database that keeps the models of automobiles on the highway. The correctness of this measurement is verified through the experiments comparing with the radar and laser sensor data.

• Proceedings of the KIEE Conference
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• 2000.07d
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• pp.2769-2771
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• 2000

In this paper we propose new algorithms of path planning and obstacle avoidance for an autonomous mobile robot with vision system. Distance variation is included in path planning to approach the target point and avoid obstacles well. The fuzzy rules are also applied to both trajectory planning and obstacle avoidance to improve the autonomy of mobile robot. It is shown by computer simulation that the proposed algorithm is working well.

• International Journal of Fuzzy Logic and Intelligent Systems
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• v.6 no.4
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• pp.293-298
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• 2006

In this paper, a sensor fusion based robot navigation method for the autonomous control of a miniature human interaction robot is presented. The method of navigation blends the optimality of the Fuzzy Neural Network(FNN) based control algorithm with the capabilities in expressing knowledge and learning of the networked Intelligent Robotic Space(IRS). States of robot and IR space, for examples, the distance between the mobile robot and obstacles and the velocity of mobile robot, are used as the inputs of fuzzy logic controller. The navigation strategy is based on the combination of fuzzy rules tuned for both goal-approach and obstacle-avoidance. To identify the environments, a sensor fusion technique is introduced, where the sensory data of ultrasonic sensors and a vision sensor are fused into the identification process. Preliminary experiment and results are shown to demonstrate the merit of the introduced navigation control algorithm.

• 제어로봇시스템학회:학술대회논문집
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• 2001.10a
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• pp.30.5-30
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• 2001

This paper describes a new design of blimp having wheeled vehicle part. This system can work both on the ground using wheeled vehicle and in the air using the floating capability of the blimp part. The passive wheeled mechanism in the vehicle part enables the stable taking off, landing on as well as it is greatly helpful to keep a stationary position on the floor. On the other hand, the floating capability enables the wheeled blimp to fly freely regardless of the ground condition or obstacles. The wheeled blimp can be used as an agent robot for the tole-presence application. Using multimedia devices such as camera, speaker, LCD and microphone mounted on the blimp surface, this system can get necessary information at the local site and communicate with person from a distance. As a typical tele-presence application, the wheeled blimp is currently being developed to a tole-guidance robot working in public indoor areas such 35 exhibition halls, departments, hospitals, etc ...

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 2008.05a
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• pp.329-336
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• 2008

Nowadays with advancement in technology and aging society, the number of disabled citizens is increasing. The disabled citizens always need a caretaker for daily life routines especially for mobility. In future, the need is considered to increase more. To reduce the burden from the disabled, various devices for healthcare are introduced using computer technology. The power wheelchair is an important and convenient mobility device. The demand of power wheelchair is increasing for assistance in mobility. In this paper we proposed a robotic wheelchair for mobility aid to reduce the burden from the disabled. The main issue in an autonomous wheelchair is the automatic detection and avoidance of obstacles and going to the pre-designated place. The proposed algorithm detects the obstacles and avoids them to drive the wheelchair to the desired place safely. By this way, the disabled will not always have to worry about paying deep attention to the surroundings and his path.

• Journal of the Society of Naval Architects of Korea
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• v.38 no.4
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• pp.23-29
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• 2001

An Obstacle Avoidance System(OAS) of Underwater Vehicle(UV) in diving and steering plane is investigated. The concept of Imaginary Reference Line(IRL), which acts as the seabed in the diving plane, is introduced to apply the diving plane avoidance algorithm to the steering plane algorithm. Furthermore, the distance to the obstacle and the slope information of the obstacle are used for more efficient and safer avoidance. As for the control algorithm, the sliding mode controller is adopted to consider the nonlinearity of the equations of motion and to get the robustness of the designed system. To verify the obstacle avoidance ability of the designed system, numerical simulations are carried out on the cases of some presumed three-dimensional obstacles. The effects of the sonar and the clearance factor used in avoidance algorithm are also investigated. Through these, it is found that the designed avoidance system can successfully cope with various obstacles and the detection range of sonar is proven to bea significant parameter to the performance of the avoidance.