Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Design of Safe Autonomous Navigation System for Deployable Bio-inspired Robot

전개형 생체모방로봇을 위한 안전한 자율주행시스템 설계

  • Choi, Keun Ha (Department of Mechanical Engineering, Korea Advanced Institute of Science and Technology) ;
  • Han, Sang Kwon (Department of Mechanical Engineering, Korea Advanced Institute of Science and Technology) ;
  • Lee, Jinyi (Department of Mechanical Engineering, Korea Advanced Institute of Science and Technology) ;
  • Lee, Jin Woo (Department of Mechanical Engineering, Korea Advanced Institute of Science and Technology) ;
  • Ahn, Jung Do (Department of Mechanical Engineering, Korea Advanced Institute of Science and Technology) ;
  • Kim, Kyung-Soo (Department of Mechanical Engineering, Korea Advanced Institute of Science and Technology) ;
  • Kim, Soohyun (Department of Mechanical Engineering, Korea Advanced Institute of Science and Technology)
  • 최근하 (한국과학기술원 기계공학과) ;
  • 한상권 (한국과학기술원 기계공학과) ;
  • 이진이 (한국과학기술원 기계공학과) ;
  • 이진우 (한국과학기술원 기계공학과) ;
  • 안정도 (한국과학기술원 기계공학과) ;
  • 김경수 (한국과학기술원 기계공학과) ;
  • 김수현 (한국과학기술원 기계공학과)
  • Received : 2013.08.07
  • Accepted : 2013.12.06
  • Published : 2014.04.01
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Abstract

In this paper, we present a deployable bio-inspired robot called the Pillbot-light, which utilizes a safe autonomous navigation system. The Pillbot-light is mounted the station robot, and can be operated in a disaster relief operation or military operation. However, the Pilbot-light has a challenge to navigate autonomously because the Pilbot-light cannot be equipped with various sensors. As a result, we propose a new robot system for autonomous navigation that the station robot controls Pillbot-light equipped with vision camera and CPU of high performance. This system detects obstacles based on the edge extraction using vision camera. Also, it cannot only achieve path planning using the hazard cost function, but also localization using the Particle Filter. And this system is verified by simulation and experiment.

Keywords

Acknowledgement

Supported by : 한국과학기술원

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