• The Transactions of The Korean Institute of Electrical Engineers
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• v.63 no.1
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• pp.108-114
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• 2014

This paper proposes a generation method of a navigation guidance direction and a fuzzy controller to achieve the autonomous navigation of a mobile robot using a particle swarm optimization(PSO) scheme in unknown environments. The proposed navigation guidance direction is the direction that leads a mobile robot to arrive a target point simultaneously with avoiding obstacles efficiently according to the surrounding local informations. It is generated by selecting the most suitable direction of the many directions in the surrounding environment using a particle swarm optimization scheme. Also, a robot can reach a target point with avoiding the various obstacles by controlling the robot so that it can move from its current orientation to the navigation guidance direction using the proposed fuzzy controller. Simulation results are presented to show the feasibility and validity of the proposed robot navigation scheme.

• International Journal of Fuzzy Logic and Intelligent Systems
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• v.10 no.3
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• pp.210-217
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• 2010

This paper presents integrated path planning and collision avoidance for an omni-directional mobile robot. In this scheme, the autonomous mobile robot finds the shortest path by the descendent gradient of a navigation function to reach a goal. In doing so, the robot based on the proposed approach attempts to overcome some of the typical problems that may pose to the conventional robot navigation. In particular, this paper presents a set of analysis for an omni-directional mobile robot to avoid trapped situations for two representative scenarios: 1) Ushaped deep narrow obstacle and 2) narrow passage problem between two obstacles. The proposed navigation scheme eliminates the nonfeasible area for the two cases by the help of the descendent gradient of the navigation function and the characteristics of an omni-directional mobile robot. The simulation results show that the proposed navigation scheme can effectively construct a path-planning system in the capability of reaching a goal and avoiding obstacles despite possible trapped situations under uncertain world knowledge.

• ETRI Journal
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• v.40 no.4
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• pp.446-457
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• 2018

Robot navigation allows robot mobility. Therefore, mobility is an area of robotics that has been actively investigated since robots were first developed. In recent years, interest in personal service robots for homes and public facilities has increased. As a result, robot navigation within the home environment, which is an indoor environment, is being actively investigated. However, the problem with conventional navigation algorithms is that they require a large computation time for their building mapping and path planning processes. This problem makes it difficult to cope with an environment that changes in real-time. Therefore, we propose a humanoid robot navigation algorithm consisting of an image processing and optimization algorithm. This algorithm realizes navigation with less computation time than conventional navigation algorithms using map building and path planning processes, and can cope with an environment that changes in real-time.

• 제어로봇시스템학회:학술대회논문집
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• 2004.08a
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• pp.1781-1785
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• 2004

In existing factory, robot has less necessity that consider person. However, person should be considered at design and use of service robot. To service robot can be used in everyday life along with this, more functions are required. Specially, medical service robot needs function that is intelligence function. Especially, to help patient brain disease patient (cerebral hemorrhage, cerebral infarction, imbecility), gait assistance Mobile robot consider ergonomic element necessarily. In order to develop the medical support service robot, the ergonomic design should be considered. This robot ergonomic design parameters are treated in ("evelopment of Medical Support Service Robot Using Ergonomic Design" 2003, ICASS) Fig2 show this Robot. In this study, navigation algorithm of walk assistance robot is analyzed in ergonomic view. Navigation algorithm of Mobile robot can divide by two patterns. Traditional derivative method has shortcoming in dynamic environment. Reactive method is result that react excellently in dynamic environment. However, number of behavior function is limited. So hybrid navigation algorithm was proposed by the alternative way. We consider enough user specificity at navigation algorithm application of gait assistance robot.

• Proceedings of the KIEE Conference
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• 2007.04a
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• pp.325-327
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• 2007

In this paper, we implement the internet- based remote control system for intelligent robot. For remote control of the robot, it uses the socket communication of the TCP/IP. It consists of- the user interface and the robot control interface. Robot control interface transmits the navigation and environmental informations of the robot into the user interface. In order to transmit the large environmental images, a JPEG compression algorithm is used. User interface displays the navigation status of the robot and transmits the navigation order into the robot control interface. Also, we propose the design method of the fuzzy controller using navigation data acquired by expert's knowledge or experience. To do this, we use virus-evolutionary genetic algorithm(VEGA). Finally, we have shown the proposed system can be operated through the real world experimentations.

• International journal of advanced smart convergence
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• v.8 no.2
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• pp.155-161
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• 2019

We introduces a mobile robot that can navigate on a power transmission line arranged in bundled conductors. The designs of the proposed robot are performed for navigation on bundled conductors, and the navigation method for bundled conductors and obstacle avoidance are presented. The robot consists of 13 degrees of freedom (DOF) with a symmetrical structure for the left and right parts, including the four wheel joints. The navigation method is designed using a combination of three motion primitives such as linear motion of counterbalancing box, linear motion of robot arm, and rotational motion of wheel part. To examine the performance of the proposed robot, navigation simulations are conducted using $ADAMS^{TM}$. The robot navigations were simulated on obstacle environments that consisted of two- and four-conductor bundles. Based on the simulation results, the performance of the proposed robot was reviewed through the analysis of the trajectories of end-effectors. We confirmed that the proposed robot was capable of achieving optimal navigation on bundled conductors that included obstacles.

• Journal of Mechanical Science and Technology
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• v.15 no.8
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• pp.1097-1107
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• 2001

In this paper, the wall following navigation algorithm of the mobile robot using a mono vision system is described. The key points of the mobile robot navigation system are effective acquisition of the environmental information and fast recognition of the robot position. Also, from this information, the mobile robot should be appropriately controlled to follow a desired path. For the recognition of the relative position and orientation of the robot to the wall, the features of the corridor structure are extracted using the mono vision system, then the relative position, the offset distance and steering angle of the robot from the wall, is derived for a simple corridor geometry. For the alleviation of the computation burden of the image processing, the Kalman filter is used to reduce search region in the image space for line detection. Next, the robot is controlled by this information to follow the desired path. The wall following control scheme by the PD control scheme is composed of two control parts, the approaching control and the orientation control, and each control is performed by steering and forward-driving motion of the robot. To verify the effectiveness of the proposed algorithm, the real time navigation experiments are performed. Through the result of the experiments, the effectiveness and flexibility of the suggested algorithm are verified in comparison with a pure encoder-guided mobile robot navigation system.

• Journal of Korea Multimedia Society
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• v.18 no.3
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• pp.387-400
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• 2015

A fuzzy logic based mobile robot navigation system was developed to improve the driving ability without trapping inside obstacles in complex terrains, which is one of the most concerns in robot navigation in unknown terrains. The navigation system utilizes the data from ultrasonic sensors to recognize the distances from obstacles and the position information from a GPS sensor. The fuzzy navigation system has two groups of behavior rules, and the robot chooses one of them based on the information from sensors while navigating for the targets. In plain terrains the robot with the proposed algorithm uses one rule group consisting of behavior rules for avoiding obstacle, target steering, and following edge of obstacle. Once trap is detected the robot uses the other rule group consisting of behavior rules strengthened for following edge of obstacle. The output signals from navigation system control the speed of two wheels of the robot through the fuzzy logic data process. The test was conducted in the Matlab based mobile robot simulator developed in this study, and the results show that escaping ability from obstacle is improved.

• Journal of the Korean Society for Precision Engineering
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• v.20 no.10
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• pp.141-147
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• 2003

This paper represents an absolute positioning system using a light navigation path for mobile robot. The absolute positioning system is composed of the projector unit which generates a laser beam using laser diode and mobile robot with the optical detector which has some optical sensors. The projector unit is fixed over the navigating plane of mobile robot to generate the light navigation path, and the optical detector located upper part of mobile robot detects the generated laser beam from the projector. The navigation of mobile robot is controlled by the micro-processor which compares the detected present position from the detector with the previously programmed navigation path. And experimental results show that our sensor system can be used for the absolute positioning system of the mobile robot.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.60 no.7
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• pp.1404-1409
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• 2011

The fundamental research for the mobile robot navigation using the numerical optimization method is presented. We define the mobile robot navigation problem as an unconstrained optimization problem to minimize the cost function with the pose error between the goal position and the position of a mobile robot. Using the nonlinear least squares optimization method, the optimal speeds of the left and right wheels can be found as the solution of the optimization problem. Especially, the rotational speed of wheels of a mobile robot can be directly related to the overall speed of a mobile robot using the Jacobian derived from the kinematic model. It will be very useful for applying to the mobile robot navigation. The performance was evaluated using the simulation.