• Journal of the Korean Society for Precision Engineering
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• v.26 no.6
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• pp.59-67
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• 2009

This paper addresses the control method for skating motion with a nonholonomic constraint. In order to generate a human-like skating motion, the behaviors of motion are distinctively analyzed into transient state and steady state. A close investigation of the behaviors evolved the characteristic of successive motions with transient state and steady state. Simulation results were intuitively comprehensible, and the effectiveness of control method was demonstrated for skating motion.

• Journal of the Korean Institute of Intelligent Systems
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• v.21 no.5
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• pp.602-608
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• 2011

In this study, a method of designing a neurointerface using neural network (NN) is proposed for controlling nonholonomic mobile robots. According to the concept of virtual master-slave robots, in particular, a partially stable inverse dynamic model of the master robot is acquired online through the NN by applying a feedback-error learning method, in which the feedback controller is assumed to be based on a PD compensator for such a nonholonomic robot. The NN for the online feedback-error learning can composed that the input layer consists of six units for the inputs $x_i$, i=1~6, the hidden layer consists of two hidden units for hidden outputs $o_j$, j=1~2, and the output layer consists of two units for the outputs ${\tau}_k$, k=1~2. A tracking control problem is demonstrated by some simulations for a nonholonomic mobile robot with two-independent driving wheels. The initial q value was set to [0, 5, ${\pi}$].

• Journal of Advanced Marine Engineering and Technology
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• v.25 no.1
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• pp.124-130
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• 2001

This paper presents a methodology on automation of a trailer type vehicle which consists of two parts: a tractor and a trailer. Backward moving and parking control is very important to automate this type of vehicle. It is difficult to control the motion such a trailer vehicle whose dynamics in non-holonomic. Therefore, in this paper, the modeling and parameter estimation of the system using a RCGA(real-coded genetic algorithm) is proposed and a backward path tracking control algorithm is then obtained. The simulation results verify the effectiveness of the proposed method.

• Journal of the Korean Society for Precision Engineering
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• v.17 no.4
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• pp.121-128
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• 2000

In this paper, the control algorithm fur an autonomous vehicle is studied and applied to an actual 2 wheel-driven vehicle system. In order to control a nonholonomic system, the kinematic model for an autonomous vehicle is constructed by relative velocity relationship about the virtual point at distance from the vehicle's frame. And the optimal controller that based on the kinematic model is operated on purpose to track a reference vehicle's path. The actual system is designed with named 'HYAVI' and the system controller is applied. Because all the results of simulation don't satisfy the driving conditions of HYAVI, a reformed control algorithm that satisfies an actual autonomous vehicle is applied at HYAVI. At the results of actual experiments, the path tracking works very well by the reformed control algorithm. An autonomous vehicle that applied this control algorithm can be easily used for a path generation algorithm.

• Proceedings of the Korean Society of Marine Engineers Conference
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• 2000.05a
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• pp.11-15
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• 2000

This paper provides a basic study on automatic of a trailer type vehicle which consists of two parts such as a tractor and a trailer Backward moving and parking control is very important to automate this type of vehicle. However it is very difficult to control such their motion since a trailer type vehicle is a non-holonomic system. Therefore in this paper we propose the backward path tracking control algorithm for a trailer type vehicle. And also this paper presents the results of simulation to verify the effectiveness of the proposed control algorithm.

• Journal of the Korean Society of Manufacturing Technology Engineers
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• v.24 no.1
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• pp.98-102
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• 2015

This paper proposes an autonomous navigation method for a nonholonomic mobile robot, based on the generalized Voronoi diagram (GVD). We define the look-ahead point for a given motion constraint to determine the direction of motion, which solves the problem of a minimum turning radius for the real nonholonomic mobile robot. This method can be used to direct the robot to explore an unknown environment and construct smooth feedback curves for the nonholonomic robot. As the trajectories can be smoothed, the position of the robot can be stabilized in the plane. The simulation results are presented to verify the performance of the proposed methods for the nonholonomic mobile robot. Furthermore, this approach is worth drawing on the experience of any other mobile robots.

• Transactions of the Korean Society of Automotive Engineers
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• v.11 no.5
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• pp.176-182
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• 2003

The researches for autonomous vehicle have been implemented in many studies, but most studies were confined to the lane fol1owing and changing. This paper addresses a problem of autonomous lane following parking a nonholonomic vehicle. The algorithm for image processing by the hough transform and controlling a steering angle and speed to park a nonholonomic vehicle is developed. The developed system which integrated the control algorithm for parking and vision algorithm for line traction tested with RC car and verified by the performance of the detection of parking area and the reactive parking without collisions.

• Proceedings of the KSME Conference
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• 2003.04a
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• pp.923-928
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• 2003

This paper presents the motion control of a mobile robot with arc sensor for lattice type welding. Its dynamic equation and motion control method for welding speed and seam tracking are described. The motion control is realized in the view of keeping constant welding speed and precise target line even though the robot is driven along a straight line or comer. The mobile robot is modeled based on Lagrange equation under nonholonomic constraints and the model is represented in state space form. The motion control of the mobile robot is separated into three driving motions of straight locomotion, turning locomotion and torch slider controls. For the torch slider control, the proportional integral derivative (PID) control method is used. For the straight locomotion, a concept of decoupling method between input and output is adopted and for the turning locomotion, the turning speed is controlled according to the angular velocity value at each point of the comer with range of $90^{\circ}$ constrained to the welding speed. The proposed control methods are proved through simulation results and the results have proved that the mobile robot has enough ability to apply the lattice type welding line.

• Journal of the Korean Society of Manufacturing Process Engineers
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• v.13 no.3
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• pp.28-34
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• 2014

In this paper, we propose a trajectory tracking controller for a two-wheeled mobile robot (WMR) with nonholonomic constraints using a fuzzy sliding-mode controller-based hyperbolic function. The proposed controller is composed of two separate controllers. The sliding-mode controller is used for attitude control of the WMR, and the fuzzy controller-based hyperbolic function is designed to adjust the reach time of the sliding-mode control. Simulation results on a linear and a circular trajectory show that the proposed controller improves the control performance. The proposed controller reduces the reach time by as much as 47% compared to the controller proposed by Xie et al.

• Journal of Institute of Control, Robotics and Systems
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• v.18 no.10
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• pp.902-911
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• 2012

This paper proposes a robust adaptive fuzzy backstepping control scheme for trajectory tracking of an electrically driven nonholonomic mobile robot with uncertainties and actuator dynamics. A complete model of an electrically driven nonholonomic mobile robot described in this work includes all models of the uncertain robot kinematics with a nonholonomic constraint, the uncertain robot body dynamics with uncertain frictions and unmodeled disturbances, and the uncertain actuator dynamics with disturbances. The proposed control scheme uses the backstepping control approach through a kinematic controller and a robust adaptive fuzzy velocity tracking controller. The presented control scheme has a voltage control input with an auxiliary current control input rather than a torque control input. It has two FBFNs(Fuzzy Basis Function Networks) to approximate two unknown nonlinear robot dynamic functions and a robust adaptive control input with the proposed adaptive laws to overcome the uncertainties such as parameter uncertainties and external disturbances. The proposed control scheme does not a priori require the accurate knowledge of all parameters in the robot kinematics, robot dynamics and actuator dynamics. It can also alleviate the chattering of the control input. Using the Lyapunov stability theory, the stability of the closed-loop robot control system is guaranteed. Simulation results show the validity and robustness of the proposed control scheme.