• 제어로봇시스템학회:학술대회논문집
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• 1990.10b
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• pp.1077-1081
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• 1990

Autonomous action, which corresponds actively to the change of conditions in complicated circumstances, is a fundamental function required to an intelligent robot. To develope a control system for a robot having the ability to adapt itself to complicated circumstances, it is necessary to establish self-tracing technology, which recognizes the corresponding position between peripheral objects and itself. So we need to manipulate the moving system with flexibility. It is effective for solving problem that fuzzy theory is adapted to algorithm on a complicated circumstances. We develope a method to generate a route-map which has not only a course from the present position to the destination but also useful information on surroundings.

• Proceedings of the Korea Inteligent Information System Society Conference
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• 2005.11a
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• pp.197-204
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• 2005

In this paper, we propose a method to an obstacle avoidance of chaotic robots that have unstable limit cycles in a chaos trajectory surface in the ubiquitous environment. We assume all obstacles in the chaos trajectory surface have a Van der Pol equation with an unstable limit cycle. We also show computer simulation results of Chua's equation, Lorenz equation, Hamilton and Hyper-chaos equation trajectories with one or more Van der Pol as an obstacles. We proposed and verified the results of the method to make the embedding chaotic mobile robot to avoid with the chaotic trajectory in any plane.

• 제어로봇시스템학회:학술대회논문집
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• 2001.10a
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• pp.47.3-47
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• 2001

This paper describes the control of a health care robot (called Welfare Liferobot) with voice commands. The welfare liferobot is an intelligent autonomous mobile robot with its own control system on-board and the set of sensors to perceive an environment. It is a natural way to control the welfare liferobot by use of voice command for the usage of keyboard and mouse may present a difficult problem to the elderly and the handicapped. Voice input as the main control modality can offer many advantages. A set of oral commands is included, and each command has its associated function. These control words (commands) have to be chosen by user. Each time a voice command is recognized by the robot, it executes the pre-assigned action ...

• The Journal of Korea Robotics Society
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• v.18 no.2
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• pp.135-142
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• 2023

Light detection and ranging (LiDAR) sensors have been most widely used in terrestrial robotic applications because they can provide dense and precise measurements of the surrounding environments. However, the reliability of LiDAR measurements can considerably vary due to the different reflectivities of laser beams to the reflecting surface materials. This study presents a robust LiDAR-based mapping method for the varying laser reflectivities in indoor environments using the framework of simultaneous localization and mapping (SLAM). The proposed method can minimize the performance degradations in the SLAM accuracy by checking and discarding potentially unreliable LiDAR measurements in the SLAM front-end process. The gaps in point-cloud maps created by the proposed approach are filled by a Gaussian process regression method. Experimental results with a mobile robot platform in an indoor environment are presented to validate the effectiveness of the proposed methodology.

• Journal of Institute of Control, Robotics and Systems
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• v.6 no.8
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• pp.689-696
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• 2000

In this paper we propose an eminent controller for wheeled mobile robots. This controller consists of an input-output linearization controller trying to stabilize the system and a neural network controller to compensate for uncertainties. The uncertainties are divided into two parts. First unstructured uncertainties include the elements related with system order such as friction disturbance. Second structure uncertainties are the incorrect system parameters A neural network structure of the proposed overall controller learns structural errors of the wheeled mobile robots with uncertainties and includes the neural network output. This controller learns quickly the model and has good tracking performance Simulation results show that the proposed controller is more efficient than analog controllers.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.31 no.9A
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• pp.878-883
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• 2006

New emerging wireless broadband internet can make many broadband multimedia services. The networked intelligent mobile robot service is one of the new services. In the networked robot control, both the on-line real-time control and the reliability of control data transmission are very important. Considering the real-time control and data reliability, an efficient transmission method based on UDP protocol is proposed. The proposed method allocates the priority to the robot control data and the transmission of the robot data at the base station is carried out in duplicate manner. NS-2 simulation results show that the proposed scheme has a very low packet delay and low packet errors.

• Journal of the Korean Institute of Intelligent Systems
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• v.18 no.5
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• pp.706-711
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• 2008

This paper is presented an accurate localization scheme for mobile robots based on the fusion of ultrasonic satellite (U-SAT) with inertial navigation system (INS), i.e., sensor fusion. Our aim is to achieve enough accuracy less than 100 mm. The INS consist of a yaw gyro, two wheel-encoders. And the U-SAT consist of four transmitters, a receiver. Besides the localization method in this paper fuse these in an extended Kalman filter. The performance of the localization is verified by simulation and two actual data(straight, curve) gathered from about 0.5 m/s of driving actual driving data. localization methods used are general sensor fusion and sensor fusion through Kalman filter using data from INS. Through the simulation and actual data studies, the experiment show the effectiveness of the proposed method for autonomous mobile robots.

• Proceedings of the KIEE Conference
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• 2005.07d
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• pp.2774-2776
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• 2005

본 논문에서는 이동로봇에 삼차원 레이저 스캐너를 장착하여 삼차원 데이터의 수집, 수집된 데이터의 정합, 데이터 수집을 위한 이동로봇의 경로계획 및 장애물 회피주행 등 모든 작업들을 유기적으로 결합시켜 실내 환경에 다한 삼차원 모델을 자율제작하는 시스템을 제안한다. 이를 위해 스캔순서최적화를 통한 빠른 동적 물체 정보의 제거, 계층적 육면체 맵과 기하학적맵을 이용한 최적 경로 예측에 의한 다음 스캐닝 위치의 결정, 오도미터 정보와 명암 정보를 이용해 수정된 ICP 알고리즘을 통한 데이터의 정합을 통하여 이동물체와 관계없는 실내환경에 대한 삼차원 모델의 자율복원 한다.

• Proceedings of the Korean Institute of Intelligent Systems Conference
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• 2005.04a
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• pp.225-228
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• 2005

본 논문에서는 이동로봇의 저가형 위치인식센서로 적합한 PSD(Position Sensitive Detector)센서를 이용하여 거리계측시스템을 개발하였다. PSD 센서는 거리-전압 출력이 비선형적인 단점을 가지고 있어 센서의 특성실험을 통해 선형화가 가능한 변환함수를 제안하였다. 제안한 방법을 검증하기 위하여 거리계측시스템의 하드웨어 및 소프트웨어를 구성하였다. 또 피측정체의 색상 및 재질에 따른 출력특성을 실험하고 거리-전압 데이터를 측정하였다. 실측한 데이터를 바탕으로 제안한 선형화함수의 계수를 추출하였다. 마지막으로 제안한 함수에 의한 거리와 실제거리를 비교하여 시스템의 성능 및 정확성을 검증하였다.

• Proceedings of the KIEE Conference
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• 1998.07g
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• pp.2183-2185
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• 1998

In this paper, we propose a method of designing neural networks using biological inspired developmental and evolutionary concept. The living things are best information processing system in themselves. One individual is developed from a generative cell. And a species of this individual have adapted itself to the environment by evolution. Ontogeny of organism is embodied in cellular automata and phylogeny of species is realized by evolutionary algorithms. The connection among cells is determined by a rule of cellular automata. In order to obtain the best neural networks in the environment, we evolve the arrangement of initial cells. The cell, that is neuron of neural networks, is modeled on chaotic neuron with firing or rest state like biological neuron. A final output of network is measured by frequency of firing state. The effectiveness of the proposed scheme is verified by applying it to navigation problem of robot.