• 한국지능시스템학회:학술대회논문집
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• 한국퍼지및지능시스템학회 2003년도 ISIS 2003
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• pp.228-231
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• 2003

This paper presents the leg trajectory generation for the quadruped robot with genetic-fuzzy algorithm. To have the nobility even at uneven terrain, a robot is able to recognize obstacles, and generates moving path of body that can avoid obstacles. This robot should have its own avoidance algorithm against obstacles, forwarding to target without collision. During walking period, n robot recognizes obstacle from external environment with a PSD and some interface, and this obstacle information is converted into proper the body rotation angle by fuzzy inference engine. After this process, we can infer the walking direction and walking distance of body, and finally can generate the optimal Beg trajectory using genetic algorithm. All these methods are verified with PC simulation program, and implemented to SERO-V robot.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 1995년도 추계학술대회 논문집
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• pp.1133-1137
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• 1995

This paper presents a numerical method of the global search for an optimal geometric path for a manipulator arm amid obstacles. Finite term quintic B-splines are used to describe an arbitrary point-to-point manipulator motion with fixed moving time. The coefficients of the splines span a linear vector space, a point in which uniquely represents the manipulator motion. All feasible geometric paths are searched by adjusting the seed points of the obstacle models in the penetration growth distances. In the numerical implementation using nonlinear programming, the globally optimal geometric path is obtained for a spatial 3-link(3-revolute joints) manipulator amid several hexahedral obstacles without simplifying any dynamic or geometric models.

• 한국항공운항학회지
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• 제26권2호
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• pp.47-53
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• 2018

In this paper, we investigate a collision avoidance algorithm for unmanned aerial vehicles using potential field based on the relative velocity of obstacles. The potential field consists of the attraction force and the repulsive force that are generated for the target and the obstacles. And the field can be classified into the attractive potential field generated by the target and the repulsive potential field generated by the obstacle, respectively. In this study, we construct an attractive potential field as a function of the distance between the UAV and the target position. On the other hand, a repulsive potential field is created by a function of distance and the relative velocity of the obstacle with respect to the UAV. The proposed potential field based collision avoidance algorithm is evaluate through simulations.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2005년도 심포지엄 논문집 정보 및 제어부문
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• pp.249-251
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• 2005

In this paper, an algorithm of path planning and obstacle avoidance for mobile robot is proposed. We call the proposed method Random Access Sequence(RAS) method. In the proposed method, a small region is set first and numbers are assigned to its neighbors. By processing assigned numbers all regions are covered and then the path from start to destination is selected by these numbers. The RAS has an advantage of fast planning because of simple operations. This implies that new path selection may be possible within a short time and helps a robot to avoid obstacles in any direction. The algorithm can be applied to unknown environments. When moving obstacles appear, a mobile robot avoids obstacles reactively. then new path is selected by RAS.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2000년도 제15차 학술회의논문집
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• pp.415-415
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• 2000

The functions of a mobile robot such as obstacle knowledge and collision avoidance for in-door cleaning are necessary features, as has been much studied in the field of industrial automatic guided vehicle or general mobile robot. A mobile robot, in order to avoid collision with obstacles, has to gather data with environment knowledge sensors and recognize environment and the shape of obstacles from the data. In the study, a wall-following algorithm was suggested as a autonomous moving algorithm in which a mobile robot can recognize obstacles in indoor like environment and do cleaning work in effect. The system suggested in the study is for cleaning of nuclear material dusts generated in the process of nuclear fuel manufacturing and decontamination of devices in disorder which is performed in M6 radioactive ray shield hot-cell in IMEF(Irradiated Material Examination Facility) in the Korea Atomic Energy Research Institute.

• 한국정밀공학회지
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• 제15권8호
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• pp.165-173
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• 1998

In this paper, a motion control algorithm is developed by using fuzzy control technique, which makes a robot arm avoid unexpected obstacles when the robot is moving from the start to a goal posture. During the motion, if there exist no obstacles the robot arm moves along the pre-defined path. But if some obstacles are recognized and close to the robot arm, a fuzzy controller is activated to adjust the path of the robot arm. To show the feasibility of the developed algorithm, numerical simulations and experiments are carried out. In the experiments, redundant planar robot arms are considered for the collision avoidance test, and it was proved that the developed algorithm gives good collision avoiding performance.

• 한국국방경영분석학회지
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• 제18권2호
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• pp.140-150
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• 1992

In this paper, we consider the shortest path problem of a Robot car moving in a workspace which consists of some obstacles. The motion of the Robot car is considered to have initial and final directions with some restrictions in the curvature of the path. At first we consider the problem in the case of having no obstacles and we give an analytical solution. Then wre present an algorithm to find a feasible path in the case of having obstacles and a method to improve this feasible path into a minimal path. Some computational results using Graph theory and Linear programming have been included.

• 대한전자공학회:학술대회논문집
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• 대한전자공학회 2006년도 하계종합학술대회
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• pp.943-944
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• 2006

In this paper, we implemented the autonomous mobile robot which can recognize and avoid obstacles, then move to its destination using a camera and ultrasonic sensors. The mobile robot can avoid both stationary obstacles with a camera and moving obstacles with ultrasonic sensors. It can find the self-location with the map-based system, that is, it attempts to localize by collecting sensor data, then updating some belief about its position with respect to a map of the environment.

• 한국지능시스템학회:학술대회논문집
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• 한국퍼지및지능시스템학회 2000년도 추계학술대회 학술발표 논문집
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• pp.269-273
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• 2000

This paper proposes a algorithm for several mobile robots navigation. There are three parts in this algorithm. First part generates robots turning angle and moving distance for goal approaching, sencond part generates robots avoiding angle and avoiding distance for static obstacles or other robots and third part adjust between robots moving distance and avoiding distance. Most simulation results of this algorithm are very effective for several mobile robots traveling in unknown field.

• 대한기계학회논문집A
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• 제38권11호
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• pp.1193-1199
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• 2014

서비스 로봇이 충돌안전성을 확보한 상태에서 고속 주행 임무를 수행하기 위해서는 동적 장애물의 속도를 고려한 궤적 계획이 필요하다. 정적 장애물만을 고려한 상태에서 궤적을 계획하는 경우 장애물과의 상대속도로 인해서 로봇이 장애물과 충돌할 수 있다. 본 연구에서는 동적 장애물의 속도를 고려한 궤적시간조정기법을 제안한다. 제안된 기법을 통해서 기존에 생성된 궤적의 시간을 조정해서 장애물 회피가 가능한지를 평가할 수 있다. 만일 회피가 불가능할 경우 생성된 경로가 아닌 다른 경로를 선택할 수 있다. 모의 시험 결과를 통해서 제안된 기법을 통해서 짧은 시간 내에 장애물 회피를 수행할 수 있음을 보였다.