• International Journal of Internet, Broadcasting and Communication
• /
• v.15 no.4
• /
• pp.134-141
• /
• 2023

As robotic technology expands into various fields, robots need to execute some complicated tasks in diverse environments. However, the previous robotic software solutions were limited to independent systems. We can not adapt to diverse functionalities and environments. This makes it hard to provide rapid and effective services and leads to costs and losses in the development process. To overcome these problems, we propose a robot software framework with behavior trees based on ROS2. This framework simplifies complex robot behaviors through behavior trees and makes it easy to modify, extend, and reuse robot behaviors. Furthermore, ROS2 standardizes connections between software modules, enhances the robot's flexibility, and enables independent development and testing of software. Our framework aims to provide a foundation for high-quality robot service provision by supporting the modularity, reusability, independent development, and testing required by intelligent robots that need to provide services in various environments.

• Proceedings of the Korean Institute of Intelligent Systems Conference
• /
• 2001.12a
• /
• pp.263-266
• /
• 2001

It has been integrated into several navigation systems. This paper shows that system recognizes difficult indoor roads and open area without any specific mark such as painted guide line or tape. In this method, Robot navigates with visual sensors, which uses visual information to navigate itself along the road. An Artificial Neural Network System was used to decide where to move. It is designed with USB web camera as visual sensor.

• 제어로봇시스템학회:학술대회논문집
• /
• 2000.10a
• /
• pp.158-158
• /
• 2000

In this paper, control problems of computer kitchen systems are studied, which are widely used to automate test dyeing processes. To reduce the process time and avoid collision, a simplified real time control scheme Is proposed using Windows 98 environments Using two robots and applying proposed control scheme, the process time was reduced more than 30% for a given recipe in comparison with one robot machine

• Transactions on Control, Automation and Systems Engineering
• /
• v.4 no.2
• /
• pp.147-155
• /
• 2002

In this paper, the regular rotational gaits of the quadruped crawling robot are studied. It is assumed that the proposed regular rotational gaits starts from one of six support patterns in a translational gaits and end up with one of six support patterns in a translational gaits. Noting that six support patterns in a regular translational gait belong to two different groups with respect to regular rotational gait, the static stability margin and the maximum rotational displacement during one rotational stride period for the two representative support patterns are investigated. It is expected that the proposed regular rotational gaits will enhance the omni-directional characteristics of the quadruped crawling robot.

• Transactions on Control, Automation and Systems Engineering
• /
• v.4 no.2
• /
• pp.130-139
• /
• 2002

In this paper, at first, we investigate existing algorithms for finding the minimum infinity-norm solution of consistent linear equations and then propose a new algorithm. The proposed algorithm is intended to includes the advantages of computational efficiency as well as geometric explicitness. As a practical application example, optimum trajectory planning for redundant robot manipulators is considered. Also, an efficient approach avoiding discontinuity in trajectory is proposed by resolving the non-uniqueness problem of minimum infinity-norm solution. To be specific, the proposed method for checking possible discontinuity does not need any other algorithms in checking the possibility of discontinuity while previous work needs specially designed checking courses. To show the usefulness of the proposed techniques, an example calculating minimum infinity-norm solution for comparing the computational efficiency as well as the trajectory planning for a redundant robot manipulator are included.

• International Journal of Control, Automation, and Systems
• /
• v.4 no.6
• /
• pp.736-747
• /
• 2006

Simultaneous Localization and Map Building(SLAM) is one of the fundamental problems in robot navigation. The Extended Kalman Filter(EKF), which is widely adopted in SLAM approaches, requires extensive computation. The conventional particle filter also needs intense computation to cover a high dimensional state space with particles. This paper proposes an efficient SLAM method based on the recursive unscented Kalman filtering in an environment including a large number of landmarks. The posterior probability distributions of the robot pose and the landmark locations are represented by their marginal Gaussian probability distributions. In particular, the posterior probability distribution of the robot pose is calculated recursively. Each landmark location is updated with the recursively updated robot pose. The proposed method reduces filtering dimensions and computational complexity significantly, and has produced very encouraging results for navigation experiments with noisy multiple simultaneous observations.

• Transactions of the Society of Information Storage Systems
• /
• v.11 no.1
• /
• pp.6-10
• /
• 2015

Optical library system consists of disc magazines, cabinets, transfer robot and drive. Transfer robot delivers desired disc or magazine in cabinet to drive which reads data of disc. Conventional archive system stores discs in a line and transfer robot moves in one dimension. However, to store more discs, new optical archive system, optical library system, is developed which stores discs in two dimension like bookcase. Transfer robot should know the position and stored data of desired magazine to get correct data. In this paper, addressing algorithm using optical character recognition is proposed. Proposed algorithm is evaluated by experiments with implemented system.

• Journal of Institute of Control, Robotics and Systems
• /
• v.19 no.5
• /
• pp.385-389
• /
• 2013

This paper proposes the leader-follower based formation control method for multiple mobile robots. The controller is designed using the measurements of the follower robot such as the relative distance and angle between the leader and the follower. This means that the follower robot does not require the information of the leader robot while keeping the desired formation. Therefore, the proposed control method can reduce the communication loss and the cost for hardware. From Lyapunov stability theory, it is shown that all error signals in the closed-loop system are uniformly ultimately bounded. Finally, simulation results demonstrate the effectiveness of the proposed control system.

• Journal of Institute of Control, Robotics and Systems
• /
• v.19 no.5
• /
• pp.429-434
• /
• 2013

This paper proposes a CPSO (Cooperative Particle Swarm Optimization)-based MPC (Model Predictive Control) scheme to deal with formation control problem of multiple nonholonomic mobile robots. In a distributed MPC framework, each robot needs to optimize control input sequence over a finite prediction horizon considering control inputs of the other robots where their cost functions are coupled by the state variables of the neighboring robots. In order to optimize the control input sequence, a CPSO algorithm is adopted and modified to fit into the formation control problem. Experiments are performed on a group of nonholonomic mobile robots to demonstrate the effectiveness of the proposed CPSO-based MPC for multi-robot formation.

• Journal of Institute of Control, Robotics and Systems
• /
• v.19 no.8
• /
• pp.731-737
• /
• 2013

In this paper, we propose an image-based output feedback robust controller of robot manipulators which have bounded parametric uncertainty. The proposed controller contains an integral action and high-gain observer in order to improve steady state error of joint position and performance deterioration due to measurement errors of joint velocity. The stability of the closed-loop system is proved by Lyapunov approach. The performance of the proposed method is demonstrated by simulations on a 5-link robot manipulators with two degrees of freedom.