• The Journal of Korean Institute of Communications and Information Sciences
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• v.31 no.4B
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• pp.278-284
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• 2006

In thispaper, we designed a intelligent autonomous driving robot by using Fuzzy algorithm. The object of designed robot is recognition of obstacle, avoidance of obstacle and safe arrival. We append a suspension system to auxiliary wheel for improvement in stability and movement. The designed robot can arrive at destination where is wanted to go by the old and the weak and the handicapped at indoor hospital and building.

• Journal of the Korean Institute of Intelligent Systems
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• v.26 no.2
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• pp.105-112
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• 2016

This paper presents the experimental setup for autonomous navigation of a robotic vehicle for touring university campus. The robotic vehicle is developed for navigation of specific areas such as university campus or play parks. The robotic vehicle can carry two passengers to travel short distances. For the robotic vehicle to navigate autonomously the specific distance from the main gate to the administrative building in the university, the experimental setup for SLAM is presented. As an initial step, a simple method of following the line detected by a single camera is implemented for the partial area. The central line on the pavement colored with two kinds, red and yellow, is detected by image processing, and the robotic vehicle is commanded to follow the line. Experimental studies are conducted to demonstrate the performance of navigation as a possible touring vehicle.

• Journal of the Korean Institute of Intelligent Systems
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• v.17 no.2
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• pp.214-219
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• 2007

In this paper, a new magnetic position sensing mettled for autonomous vehicle and robot guidance is presented. In autonomous vehicle and robot control, position sensing is an important task for the identification of their locations, such as the current position within a trajectory. The magnet based autonomous vehicle and robot was identified position via magnetic materials. In the magnetic sensing system, the Earth field is one of the largest disturbance. To removal of the Earth field, this paper proposes 1-dimensional magnetic field sensors array and develops precise petition sensing system using linear operating region of the magnetic field sensor. This proposal is verified a feasible magnetic position sensing system for autonomous vehicle and robot guidance by the experimental results.

• Proceedings of the Korean Society of Computer Information Conference
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• 2022.01a
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• pp.323-324
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• 2022

본 논문에서는 사람의 개입 없이 실내 환경에서 마스크 미 착용자를 스스로 발견한 후 방역수칙위반 사실에 대한 경고와 함께 마스크 착용을 권고하는 인공지능 기반의 자율주행 서비스 로봇을 개발한다. 제안한 시스템에서 로봇은 동시적 위치 추적 지도 작성 기법인 SLAM(Simultaneous Localization and Mapping)기술을 이용하여 지도를 작성한 후 사용자가 제공한 웨이포인트(Waypoint)를 기반으로 자율주행한다. 또한, YOLO(You Only Look Once) 알고리즘을 이용한 실시간 객체 인식 기술을 활용하여 보행자의 마스크 착용 여부를 판단한다. 실험을 통해 사전에 작성된 지도에 지정된 웨이포인트를 따라 로봇이 자율주행하는 것을 확인하였다. 또한, 충전소로 이동할 경우, 영상 처리 기법을 활용하여 충전소에 부착된 표식에 근접하도록 이동하여 충전이 진행됨을 확인하였다.

• Journal of Digital Convergence
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• v.19 no.12
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• pp.145-150
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• 2021

In order to continuously perform quarantine in public places, it is not easy to secure manpower, but using self-driving-based robots can solve problems caused by manpower. Self-driving-based quarantine robots can continuously prevent the spread of harmful viruses and diseases in public institutions and hospitals without additional manpower. The location of the autonomous driving function was estimated by applying the Pinnacle filter algorithm, and the UV sterilization system and chlorine dioxide injection system were applied for quarantine. The driving time is more than 3 hours and the position error is 0.5m.Soon, the stop-avoidance function was operated at 95% and the obstacle detection distance was 1.5 m, and the automatic charge recovery was charged by moving to the charging cradle at the remaining 10% of the battery capacity. As a result of quarantine with an unmanned quarantine system, UV sterilization is 99% and chlorine dioxide is sterilized more than 95%, which can contribute to reducing enormous social costs.

• The Journal of the Korea institute of electronic communication sciences
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• v.17 no.4
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• pp.687-694
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• 2022

In this paper, we proposed an autonomous vehicle platform that delivers goods to a designated destination based on the SLAM (Simultaneous Localization and Mapping) map generated indoors by applying the Visual SLAM technology. To generate a SLAM map indoors, a depth camera for SLAM map generation was installed on the top of a small autonomous vehicle platform, and a tracking camera was installed for accurate location estimation in the SLAM map. In addition, a convolutional neural network (CNN) was used to recognize the label of the destination, and the driving algorithm was applied to accurately arrive at the destination. A prototype of an indoor delivery autonomous vehicle was manufactured, and the accuracy of the SLAM map was verified and a destination label recognition experiment was performed through CNN. As a result, the suitability of the autonomous driving vehicle implemented by increasing the label recognition success rate for indoor delivery purposes was verified.

• Journal of the Korean Institute of Intelligent Systems
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• v.22 no.4
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• pp.435-440
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• 2012

Recently autonomous navigation systems are taken great attention in real industry. The ability to performing desired tasks in rough, changing, unstructured and uncertain environments without continuous human assistance is needed in autonomous navigation systems including autonomous robots. Industrial Mobile robot can be required wireless network communications for the purpose of navigation information sharing. According to these backgrounds, in this paper, we develop sensor network and wireless network-based autonomous navigation systems, and provide experimental results in order to show the validity of the developed systems.

• ICROS
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• v.15 no.1
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• pp.29-36
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• 2009

무인차량의 야지 자율주행에 있어서 지형 및 환경 인식기술은 다양한 지형/지물에 대한 인식, 분류 및 융합을 통하여 최종적인 자율주행 및 임무 목적용 인식 맴을 제작하기 위한 기술이다. 병렬기구는 조립, 포장, 기계가공, 크레인, 수중공학, 항공 및 해양구조, 비행 및 3D 시뮬레이션, 위성 접시안테나 위치제어, 망원경 자세제어, 그리고 정형외과 수술 등 여러 분야에 사용되고 있다.

• Proceedings of the Korea Information Processing Society Conference
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• 2015.10a
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• pp.370-371
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• 2015

자율 주행 로봇의 기본적인 기능에는 위치 추정 기능과 무선 통신 기능이 포함된다. 이미지 센서를 이용하여 로봇의 이동 위치를 추정하고, 무선통신은 ZigBee를 적용하였다. 본 논문에서는 자율 주행 로봇의 이동 위치 정보를 이미지센서를 이용하여 데이터를 취득 후 마우스 알고리즘을 통해 이동 데이터로 환산하였으며, 이동 데이터를 ZigBee통신을 통해 서버와 실시간 통신을 하였다. 이를 통해 로봇의 이동 정보를 실시간으로 취득할 수 있는 실내형 로봇 위치 추정 시스템을 구현하였다.

• Proceedings of the Korean Society of Computer Information Conference
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• 2020.01a
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• pp.289-290
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• 2020

본 논문에서는 Turtlebot burger3와 라즈베리파이의 OpenCV, OpenCR보드를 이용하여 ROS상에서 SLAM알고리즘을 구현하여 자율 주행 순찰이 가능한 로봇을 개발한다. 특히, 라즈베리파이 카메라에 OpenCV를 이용하여 사람 얼굴 인식이 가능하게 하여 순찰 시 카메라로 순찰 정보를 제공 할 수 있게 한다. 또한, 로봇에 탑재된 LiDAR는 SLAM 알고리즘을 이용하여 주변의 환경을 매핑하여 장애물을 회피할 수 있는 경로를 탐색할 수 있도록 한다. 개발 기술들을 통하여 사람 대신에 로봇이 경비 구역의 침입자 촬영을 하고, 원격제어가 가능한 시스템으로 다양한 분야에 로봇 제어 기술에 활용하고자 한다.