• 로봇학회논문지
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• 제4권3호
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• pp.169-176
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• 2009

Low-cost sensors have been widely used for mobile robot navigation in recent years. However, navigation performance based on low-cost sensors is not good enough to be practically used. Among many navigation techniques, building of an accurate map is a fundamental task for service robots, and mapping with low-cost IR sensors was investigated in this research. The robot's orientation uncertainty was considered for mapping by modifying the Bayesian update formula. Then, the data association scheme was investigated to improve the quality of a built map when the robot's pose uncertainty was large. Six low-cost IR sensors mounted on the robot could not give rich data enough to align the range data by the scan matching method, so a new sample-based method was proposed for data association. The real experiments indicated that the mapping method proposed in this research was able to generate a useful map for navigation.

• 제어로봇시스템학회논문지
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• 제12권7호
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• pp.693-699
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• 2006

An accurate and compact map is essential to an autonomous mobile robot system. For navigation, it is efficient to use an occupancy grid map because the environment is represented by probability distribution. But it is difficult to apply it to the large environment since it needs a large amount of memory proportional to the environment size. As an alternative, a topological map can be used to represent it in terms of the discrete nodes with edges connecting them. It is usually constructed by the Voronoi-like graphs, but in this paper the topological map is incrementally built based on the local grid map using the thinning algorithm. This algorithm can extract only meaningful topological information by using the C-obstacle concept in real-time and is robust to the environment change, because its underlying local grid map is constructed based on the Bayesian update formula. In this paper, the position probability is defined to evaluate the quantitative reliability of the end nodes of this thinning-based topological map (TTM). The global TTM can be constructed by merging each local TTM by matching the reliable end nodes determined by the position probability. It is shown that the proposed TTM can represent the environment accurately in real-time and it is readily extended to the global TTM.

• 제어로봇시스템학회논문지
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• 제16권5호
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• pp.420-427
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• 2010

This paper describes a localization method based on Monte Carlo Localization approach for a mobile robot. The method uses range data which are measured from ultrasound transmitting beacons whose locations are given a priori. The ultrasound receiver on-board a robot detects the range from the beacons. The method requires several beacons, theoretically over three. The method proposes a sensor model for the range sensing based on statistical analysis of the sensor output. The experiment uses commercialized beacons and detector which are used for trilateration localization. The performance of the proposed method is verified through real implementation. Especially, it is shown that the performance of the localization degrades as the sensor update rate decreases compared with the MCL algorithm update rate. Though the method requires exact location of the beacons, it doesn't require geometrical map information of the environment. Also, it is applicable to estimation of the location of both the beacons and robot simultaneously.

• Agricultural and Biosystems Engineering
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• 제4권1호
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• pp.22-27
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• 2003

An autonomous tractor requires not only automatic steering (automatic guidance) but also automated control of tractor functions and implement operations. Examples of tractor functions include engine throttle, transmission speed, and 3-point hitch position. Implement operations include tillage, planting, and cultivating. This article provides an overview of a map-based methodology used for the implementation of autonomous field operations of agricultural tractors. The procedure for developing autonomous field operation maps were presented, and several important issues in the implementation of map-based autonomous operations were discussed. These issues included combining field operation maps, position offset, and real-time sensing and update of field operation maps.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2002년도 하계학술대회 논문집 D
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• pp.2451-2453
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• 2002

In this paper, we present an infrared sensors aided map building method for mobile robot using genetic algorithm and fuzzy logic. Existing Bayesian update model using ultrasonic sensors only has a problem of the quality of map being degraded in the wall with irregularity which is caused by the wide beam width of sonar waves and Gaussian probability distribution. In order to solve this problem we propose an improved method of map building using supplementary infrared sensors. In the method, wide beam width of sonar waves is divided by infrared sensors and probability is distributed according to infrared sensors' information using fuzzy logic and genetic algorithm.

• 한국정보과학회:학술대회논문집
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• 한국정보과학회 2003년도 가을 학술발표논문집 Vol.30 No.2 (1)
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• pp.736-738
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• 2003

Hierarchical Mobile IP(HMW)는 Micro Mobility 관리를 위한 효율적인 방안을 제공한다. 즉, HMIP 환경에서는 Mobility Anchor Point(MAP) 관리 도메인내의 이동시 MN의 지역 바인딩 갱신(Local Binding Update) 메시지를 MAP에서 처리함으로써, 홈 도메인과의 등록 메시지 교환량을 감소시킬 수 있다. 그러나 MAP 관리 도메인과 MN 사이에는 기 설정된 비밀 정보가 존재하지 않기 때문에, 사용자 이동시 필요한 인증을 수행하기 위해서는 MN과 홈 도메인과의 정보 교환이 요구된다. 본 논문에서는 HMIP 환경에서 사용자의 인증을 위해 Diameter Mobile TPv6 응용을 적용한 모델을 제시한다. 이와 함께, MAP와 연계된 방문망의 AAA 서버로의 인증 권한 위임을 통해, 홈 도메인과의 정보 교환을 감소시키는 효율적인 Micro Mobility 관리 방안을 제공한다.

• 한국통신학회논문지
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• 제30권7A호
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• pp.597-602
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• 2005

이 논문은 HMIPv6를 위해 효율적인 새로운 멀티캐스트 방안을 제안한다. 이동할 영역의 MAP이 멀티캐스팅을 지원하지 않는다면 그 영역으로 이동하는 그룹의 구성원은 그 MAP을 통해 멀티캐스트 그룹에 가입할 수 없게 된다. 따라서 그룹 구성원은 멀티캐스트 패킷을 계속 수신하기 위해, Mobile Ipv6를 사용하여 자신의 HA로부터 패킷을 수신한다. 그러나, 이것은 BU 메시지의 전달 지연 시간을 증가시키는 요인이 될 수 있다. 우리가 제안하는 방안은 새 영역의 MAP이 멀티캐스팅을 지원하지 않을 경우, HA에서 패킷을 받지 않고 이전의 멀티캐스트 MAP에서 수신하도록 한다. 제안하는 방안은 터널링 비용, 총 전달 비용, 핸드오버 지연 시간 등을 줄일 수 있다. 전달 비용과 핸드오버 지연 시간 등을 사용하여 M-HMIPv6 방안과 성능을 비교 측정하였다

• 한국콘텐츠학회:학술대회논문집
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• 한국콘텐츠학회 2009년도 춘계 종합학술대회 논문집
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• pp.743-747
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• 2009

자동차 판매량의 증가하고 좀 더 편안하게 운전하기 위해 내비게이션을 구입하는 사람들이 점점 늘어나고 있다. 하지만 그에 반해 내비게이션 구입 후 자주 바뀌는 지도, 카메라, 음성 등의 다양한 콘텐츠 정보를 업데이트 하지 않고 그대로 사용하고 있다. 그 이유는 내비게이션에서 SD카드를 분리 하여 수작업으로 컴퓨터에 연결해 매번 다운받는 불편함이 있기 때문이다. 본 논문에서는 이러한 문제점을 해결하기 위해 사람들이 많이 찾는 주유소 등의 AP를 활용하여 자동으로 최신 콘텐츠를 업데이트 받는 시스템을 설계 구현하였다. 인증 받지 않은 사용자가 무상으로 주유소 등의 AP를 사용하는 것을 방지하기 위해 MAC address를 사용하여, 고유한 SSID를 검색하여 접속하도록 하였다.

• 대한전기학회논문지:시스템및제어부문D
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• 제54권9호
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• pp.539-546
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• 2005

This paper describes a method of building the probability grid map for an autonomous mobile robot using the ultrasonic DAF(data association filter). The DAF, which evaluates the association of each data with the rest and removes the data affected by the specular reflection effect, can improve the reliability of the data for the Probability grid map. This method is based on the evaluation of possibility that the acquired data are all from the same object. Namely, the data from specular reflection have very few possibilities of detecting the same object, so that they are excluded from the data cluster during the process of the DAF. Therefore, the uncertain data corrupted by the specular reflection and/or multi-path effect, are not used to update the probability map, and hence building a good quality of a grid map is possible even in a specular environment. In order to verify the effectiveness of the DAF, it was applied to the Bayesian model and the orientation probability model which are the typical ones of a grid map. We demonstrate the experimental results using a real mobile robot in the real world.

• 한국군사과학기술학회지
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• 제17권2호
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• pp.175-181
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• 2014

In this paper, we propose a robust clutter pre-thresholding method using background adaptive Threshold Map for the clutter rejection in the complex coastal environment. The proposed algorithm is composed of the use of Threshold Map's and method of its calculation. Additionally we also suggest an automatic decision method of Thresold Map's update. Experimental results on some sets of real infrared image sequence show that the proposed method could remove clutters effectively without any loss of detection rate for the aim target and reduce processing time dramatically.