• 제어로봇시스템학회논문지
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• 제13권10호
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• pp.956-961
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• 2007

We propose a new distance measurement method and local positioning system for the autonomous mobile robots localization. The distance measurement method is able to measure long-range distances with a high accuracy by using ultrasonic sensors. The time of flight of the ultrasonic waves include various noises is calculated accurately by the proposed period detecting method. The proposed local positioning system is composed of four ultrasonic transmitters and one ultrasonic receiver. The ultrasonic transmitter and receiver are separated but they are synchronized by RF (Radio frequency) signal. The proposed system using ultrasonic waves is represented as USAT(Ultrasonic Satellite System). USAT is able to estimate the position using the least square estimation. The experimental results show that the proposed local positioning system enables to estimate the absolute position precisely.

• 제어로봇시스템학회논문지
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• 제17권12호
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• pp.1240-1247
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• 2011

The localization of mobile robot in environment is a major concern in mobile robot navigation. So, many kinds of localization techniques have been researched for several years. Among them, the positioning system using ultrasound has received attention. Most of these ultrasonic positioning systems to synchronize the transmitters and receivers are used for RF (Radio Frequencies). However, due to the use of RF, the interference problems can not be avoided and the performance of radio frequencies directly affects the positioning performance. So we proposed the ultrasonic positioning system without synchronizing RF. The proposed system is based on existing USAT (Ultrasonic Satellite System) adopted infrastructure transmitting type, and consists of transmitter and receiver synchronizing modules instead of the radio frequency transmitters and receiver. The ultrasonic transmitters and receivers are synchronized individually by the transmitter and receiver synchronizing modules. In order to calculate the bias between the transmitter and receiver synchronizing modules, new positioning algorithm similar to GPS was proposed. The positioning performance of the improved USAT without synchronizing RF and the validity of the proposed positioning algorithm are verified and evaluated by experiments.

• 한국전자통신학회논문지
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• 제6권5호
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• pp.775-781
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• 2011

실내에서 이동로봇의 절대위치 측정을 위해서 초음파를 이용하는 초음파 위치측정 시스템이 많이 연구되고 있다. 이러한 초음파 위치측정 시스템들은 초음파의 혼신을 피하기 위해 순차 발신하는 방법을 사용하고 있다. 그러나 이러한 순차 발신으로 인해 이동로봇이 이동하는 경우에는 초음파의 수신위치가 변하므로 위치측정 정도가 떨어지게 된다. 본 논문에서는 수신시점에 따른 가중치를 적용하는 새로운 위치추정 알고리즘을 제안하였다. 그리고 제안된 알고리즘을 기존의 초음파위성시스템에 적용하여 개선된 초음파위성시스템을 구축하였다. 그리고 실험을 통하여 제안된 알고리즘을 가진 개선된 초음파위성시스템의 위치측정 성능을 입증하였다.

• 제어로봇시스템학회논문지
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• 제13권9호
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• pp.875-882
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• 2007

In order for a vehicle to follow a predetermined trajectory accurately, its position must be estimated accurately and reliably. In this thesis, we propose trajectory tracking control methods for unmanned vehicle and a positioning system using ultrasonic wave. The positioning problem is an important part of control problem for unmanned navigation of a vehicle. Dead Reckoning is widely used for positioning of vehicle. However this method has problems because it accumulates estimation errors. We propose a new method to increase the accuracy of position estimation using the Ultrasonic Satellite System (USAT). It is shown that we will be able to estimate the position of vehicle precisely, in which errors are not accumulated. And proposed trajectory tracking control methods include both a new path planning method and a lateral control method for vehicle. The experimental results show that the proposed methods enables exact vehicle trajectory tracking even under various environmental factors.

• 한국위성정보통신학회논문지
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• 제8권4호
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• pp.17-20
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• 2013

본 연구에서는 싸인 보드의 집중도를 올리기 위한 초음파 스피커 시스템의 음성신호이득, 방사패턴과 같은 상태정보 표시를 위한 LED 구동 회로를 소개한다. 초음파 스피커 시스템은 에너지 손실이 적고 음이 멀리 전달된다. 이러한 특징을 지닌 초음파 스피커는 일상생활에서 다양하게 쓰일 수 있다는 점에서 매우 유용하다. 상기 장점을 살려서 제안된 LED 회로는 초음파 스피커 시스템으로부터 인터페이스를 제공받아 선형적인 LED 밝기로써 상태정보를 표현한다. 설계된 회로는 동부 0.35um CMOS 공정을 사용하였다.

• 제어로봇시스템학회논문지
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• 제10권6호
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• pp.529-536
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• 2004

Autonomous navigation of an indoor mobile robot using the global ultrasonic system is presented in this paper. Since the trajectory error of the dead-reckoning navigation grows with time and distance, the autonomous navigation of a mobile robot requires to localize the current position of the robot, so that to compensate the trajectory error. The global ultrasonic system consisting of four ultrasonic generators fixed at a priori known positions in the work space and two receivers on the mobile robot has the similar structure with the well-known satellite GPS(Global Positioning System), and it is useful for the self-localization of an indoor mobile robot. The EKF(Extended Kalman Filter) algorithm for the self-localization is proposed and the autonomous navigation based on the self-localization is verified by experiments.

• 제어로봇시스템학회논문지
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• 제12권9호
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• pp.876-882
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• 2006

This study presents an ultrasonic location awareness system for the ubiquitous computing with absolute position. The flight time of ultrasonic waves is determined by a period detecting technique which is able to extend the sensing range compared with traditional methods. For location awareness, ultrasonic waves are sent successively from each ultrasonic transmitter and synchronized by radio frequency (RF) signal, where the transmitting part is fixed and the receiving part is movable. To expand the recognizing range, cell matching technique and coded ultrasonic technique are introduced. The experimentation for various distances is accomplished to verify the used period detecting technique of U-SAT system. The positioning accuracy by using cell matching is also verified by finding the locations of settled points and the usability of coded ultrasonic technique is verified. As a result, the possibility of ultrasonic location awareness system for the ubiquitous computing can be discussed as a pseudo-satellite system with low cost, a high update rate, and relatively high precision, in the places where CPS is not available.

• 한국산업융합학회 논문집
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• 제26권2_2호
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• pp.359-370
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• 2023

For a vehicle to follow a reference path accurately, its position must be estimated accurately and reliably. In this paper, we propose a lateral control algorithm for autonomous navigation of a vehicle via USAT(Ultrasonic Satellite System), which is an absolute position measurement system using an ultrasonic wave and INS(Inertial Navigation System) integration. In order to estimate the vehicle's parameters, a J-turn test is used. And the autonomous navigation performances of proposed lateral control algorithm and validity of proposed lateral control algorithm are verified and evaluated by simulation and experiments.

• 한국통신학회논문지
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• 제31권7B호
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• pp.595-601
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• 2006

이 연구는 유비쿼터스 컴퓨팅 환경에서 절대 위치 좌표를 제공할 수 있는 초음파 위치인식 시스템에 관한 것이다. 무선(RF: Radio Frequency) 신호에 의해 동기화된 다수의 고정된 발신기가 순차적으로 초음파를 발신하며, 초음파 신호들을 수신한 수신기에서 TOF를 파악하여 이를 거리로 환산한 다음 위치정보를 계산한다. 초음파의 전파시간(TOF: Time of Flight)은 주기인식 방법을 통해 파악한다. 또한 유비쿼터스 컴퓨팅을 위한 인식 영역의 확장을 위해 셀 매칭 기법과 부호화된 초음파 기법을 제안한다. 초음파 위치인식 시스템인 U-SAT을 사용하여 주기인식 기법의 유용성을 입증하기 위하여 다양한 거리에서 실험을 수행하였다. 또한 셀 매칭 기법에 의한 영역 확장에서도 위치 측정의 정확도를 검증하였으며 부호화된 초음파 기법의 분석으로 그 유용성도 입증하였다. 그 결과로 인해 저가격, 높은 갱신율, 그리고 상대적으로 뛰어난 정밀도의 입장에서 GPS가 적용될 수 없는 환경에서의 유비쿼터스 컴퓨팅의 위치인식 시스템으로서의 가능성을 입증하였다.

• 제어로봇시스템학회논문지
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• 제14권3호
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• pp.242-247
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• 2008

As an absolute positioning system, iGS is designed based on ultrasonic signals whose speed can be formulated clearly in terms of time and room temperature, which is utilized for a mobile robot localization. The iGS is composed of an RFID receiver and an ultra-sonic transmitter, where an RFID is designated to synchronize the transmitter and receiver of the ultrasonic signal. The traveling time of the ultrasonic signal has been used to calculate the distance between the iGS system and a beacon which is located at a pre-determined location. This paper suggests an effective operation method of iGS to estimate position of the mobile robot working in unstructured environment. To expand recognition range and to improve accuracy of the system, two strategies are proposed: utilization of beacons belonging to neighboring blocks and removal of the environment-reflected ultrasonic signals. As the results, the ubiquitous localization system based on iGS as a pseudo-satellite system has been developed successfully with a low cost, a high update rate, and relatively high precision.