• Proceedings of the Korean Institute of Intelligent Systems Conference
• /
• 2003.09a
• /
• pp.587-590
• /
• 2003

In this paper, the control of the differential drive wheeled mobile robot (DDWMR) is studied. Because the DDWMR have non-holonomic constraints, it cannot be stabilized by smooth feedback. The T-S fuzzy model for the DDWMR is presented and a control algorithm Is developed by well known PID control and LMI based regional pole-placement.

• Proceedings of the KIEE Conference
• /
• 1995.07b
• /
• pp.837-839
• /
• 1995

This paper reports the current state of the intelligent mobile robot with flexible manipulators. Several technologies that have been developed and/or being developed are presented in this paper.

• Proceedings of the Korean Institute of Intelligent Systems Conference
• /
• 2003.09a
• /
• pp.240-243
• /
• 2003

In this study, as the preliminary step far developing a multi-purpose Autonomous robust carrier mobile robot to transport trolleys or heavy goods and serve as robotic nursing assistant in hospital wards. The aim of this paper is to present the use of multi-sensor data fusion such as sonar, IR sensor for map-building mobile robot to navigate, and presents an experimental mobile robot designed to operate autonomously within both indoor and outdoor environments. Smart sensory systems are crucial for successful autonomous systems. We will give an explanation for the robot system architecture designed and implemented in this study and a short review of existing techniques, since there exist several recent thorough books and review paper on this paper. It is first dealt with the general principle of the navigation and guidance architecture, then the detailed functions recognizing environments updated, obstacle detection and motion assessment, with the first results from the simulations run.

• Proceedings of the Korean Institute of Intelligent Systems Conference
• /
• 2003.09a
• /
• pp.252-255
• /
• 2003

In this paper, we suggest the method for a service robot to move safely from an initial position to n goal position in the wide environment like a building. There is a problem using odometry encoder sensor to estimate the position of n mobile robot in the wide environment like a building. Because of the phenomenon of wheel's slipping, a encoder sensor has the accumulated error of n sensor measurement as time. Therefore the error must be compensated with using other sensor. A vision sensor is used to compensate the position of a mobile robot as using the regularly attached light's panel on a building's ceiling. The method to create global path planning for a mobile robot model a building's map as a graph data type. Consequently, we can apply floyd's shortest path algorithm to find the path planning. The effectiveness of the method is verified through simulations and experiments.

• Proceedings of the Korean Institute of Intelligent Systems Conference
• /
• 1993.06a
• /
• pp.1254-1257
• /
• 1993

Presented in this paper is a newly developed motion planning method of an autonomous mobile robot(MAR) which can be applied to flexible manufacturing systems(FMS). The mobile robot is designed for transporting tools and workpieces between a set-up station and machines according to production schedules of the whole FMS. The proposed method is implemented based on an earlier developed real-time obstacle avoidance method which employs Kohonen network for pattern classification of sonar readings and fuzzy logic for local path planning. Particulary, a novel obstacle avoidance method for moving objects using a collision index, collision possibility measure, is described. Our method has been tested on the SNU mobile robot. The experimental results show that the robot successfully navigates to its target while avoiding moving objects.

• Journal of the Korean Institute of Intelligent Systems
• /
• v.12 no.4
• /
• pp.379-384
• /
• 2002

This paper represents the mobile robot system remote controlled by PDA(personal digital assistance). So far, owing to the development of internet technologies, lots of remote control methods through internet have been proposed. To control a mobile robot through internet and guide it under unknown environment, We propose a control method activated by PDA. In a proposed system, PDA acts as a user interface to communicate with notebook as a controller of the mobile robot system using TCP/IP protocol, and the notebook controls the mobile robot system. The information about the direction and velocity of the mobile robot feedbacks to the PDA and the PDA send new control method produced from the fuzzy inference engine.

• Proceedings of the Korean Institute of Intelligent Systems Conference
• /
• 2008.04a
• /
• pp.111-114
• /
• 2008

보안이 중요시 되는 공간에서 지능형 감시 시스템의 필요성이 점차 중요시 되고 있다. 본 논문에서는 embedded Linux 기반의 Mobile Robot에 Network Camera를 탑재 하여 침입자를 추적할 수 있는 시스템 구현에 목적을 두고 있다. Network Camera부터 Wireless Lan을 이용하여 서버로 영상을 전송하고, 서버에서 블록매칭 알고리즘을 이용하여 침입자의 이동경로를 파악하며 침입자에 대한 방향 정보를 전송하여 침입자를 추적한다. 로봇이 침입자를 추적함에 따라 침입자의 유효 영상을 얻는다. 본 논문에 의해서 구현된 시스템은 다른 감시 시스템과 연동하여 지능형 감시 시스템으로서 신뢰성을 더할 수 있다.

• Journal of Platform Technology
• /
• v.6 no.4
• /
• pp.3-10
• /
• 2018

A projection-based active information display system was proposed. The proposed system is based on Intelligent Space and a steerable projector mounted mobile robot which is called Ubiquitous Display (UD). In order to transfer visual information for a human in the Intelligent Space, the UD projects a certain shape of an image with a fixed size. Due to redundancy of degree of freedom (DOF), there are lots of situations to project a same shape and size of the image on a surface. In this paper, we describe a method to determine a goal posture of the UD. Here, the goal posture is the most efficient position and orientation of the UD so as to project visual information and it is determined by the Intelligent Space. To verify the proposed method, simulation and demonstration are carried out.

• International Journal of Fuzzy Logic and Intelligent Systems
• /
• v.15 no.2
• /
• pp.126-131
• /
• 2015

Studies on the control of inverted pendulum type systems have been widely reported. This is because this type of system is a typical complex nonlinear system and may be a good model to verify the performance of a proposed control system. In this paper, we propose the design of two fuzzy logic control systems for the control of a Segway mobile robot which is an inverted pendulum type system. We first introduce a dynamic model of the Segway mobile robot and then analyze the system. We then propose the design of the fuzzy logic control system, which shows good performance for the control of any nonlinear system. In this paper, we here design two fuzzy logic control systems for the position and balance control of the Segway mobile robot. We demonstrate their usefulness through simulation examples. We also note the possibility of simplifying the design process and reducing the computational complexity. This possibility is the result of the skew symmetric property of the fuzzy rule tables of the system.

• Proceedings of the Korean Institute of Intelligent Systems Conference
• /
• 1998.06a
• /
• pp.176-180
• /
• 1998

We may gaze at some peculiar scenes of flocking of birds and fishes. This paper demonstrates that multiple agent mobile robots show complex behaviors from efficient and strategic rules. The simulated flock are realized by a distributed behavioral model and each mobile robot decides its own motion as an individual which moves constantly by sensing the dynamic environment.