• Journal of the Institute of Electronics and Information Engineers
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• v.50 no.1
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• pp.261-268
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• 2013

In this paper, we propose the algorithm that improves the linearity of the walking assistant robot on lateral slopes. The walking assistant robot goes out of the course due to the rotational moment which is caused by the weight of the robot and the slope. To compensate this, we give the weight to each driving axle after comparing the real rotational angular velocity with the target rotational angular velocity which is entered by an user. The results of applying the algorithm to the real walking assistant robot show that the yaw axis deviation of the robot without the algorithm diverges, but the yaw axis deviation of the robot with the algorithm lies within 20cm, which can be recognized as stable. In addition, the changing rate of the course deviation is stabilized and shows no more course deviation, after moving 300cm.

• Journal of Intelligence and Information Systems
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• v.11 no.2
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• pp.47-57
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• 2005

In this research, the main theme is the system integration of driving simulator and unmanned vehicle. The total system is composed of the mater system and the slave system. The master system has a cockpit system and the driving simulator. The slave system means an unmanned vehicle, which is composed of the actuator system the sensory system and the vision system. The communication system is composed of RS-232C serial communication system which combines the master system with the slave system. To integrate both systems, the signal classification and system characteristics considered DSP(Digital Signal Processing) filter is designed with signal sampling and measurement theory. In addition, to simulate the motion of tele-operated unmanned vehicle on the driving simulator, the classical washout algorithm is applied to this filter, because the unmanned vehicle does not have a limited working space, while the driving simulator has a narrow working space and it is difficult to cover all the motion of the unmanned vehicle. Because the classical washout algorithm has a defect of fixed high pass later, fuzzy logic is applied to reimburse it through an adaptive filter and scale factor for realistic motion generation on the driving simulator.

• Journal of the Korean Institute of Intelligent Systems
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• v.26 no.6
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• pp.505-510
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• 2016

This paper presents a searching method of corresponding points robust to rotational error for scan-matching used for SLAM(Simultaneous Localization and Mapping) in mobile robot. A differential driving mechanism is one of the most popular type for mobile robot. For driving curved path, this type controls the velocities of each two wheels independently. This case increases a wheel slip of the mobile robot more than the case of straight path driving. And this is the reason of a drifting problem. To handle this problem and improves the performance of scan-matching, this paper proposes a searching method of corresponding points using extraction of a closest point based on rotational radius of the mobile robot. To verify the proposed method, the experiment was conducted using LRF(Laser Range Finder). Then the proposed method is compared with an existing method, which is an existing method based on euclidian closest point. The result of our study reflects that the proposed method can improve the performance of searching corresponding points.

• Korean Journal of Optics and Photonics
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• v.24 no.5
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• pp.231-236
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• 2013

We investigated the optical design of a smart headlamp capable of producing various beam patterns through only on/off modulation of light sources. This was implemented by forming a continuous matrix of beams from discontinuous beam patterns by means of a multi-array LED optical system. As one such optical system, the multi-array LED system is a convenient and economical device for implementing beam patterns with the simple on/off modulation of the light sources. A single optical assembly module can be made by combining a multiple-LED array, optical system module, and electronic control with no need for any additional mechanical components. The present optical system was designed to include a secondary lens and a projection lens mounted at the front of each LED in the array to realize accurate lighting patterns as well as the required luminosity at a distance of 25 m in the forward direction. Finally, we identified and analyzed the patterns implemented by the designed optical system that produced satisfactory performance of high beams and adaptive driving beams (ADB).

• The Journal of the Korea institute of electronic communication sciences
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• v.17 no.5
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• pp.941-948
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• 2022

Disaster response robots are deployed to disaster sites where human access is difficult and dangerous. The disaster response robots explore the disaster sites prevent a structural collapse and perform lifesaving to minimize damage. It is difficult to operate robots in the disaster sites due to rough terrains where various obstacles are scattered, communication failures and invisible environments. In this paper, we developed a series connectable wheeled robot module. The series connectable wheeled robot module was developed into two types: an active driven robot module and a passive driven robot module. A wheeled robot was built by connecting the two active type robot modules and one passive type robot module. Two robot modules were connected by one DoF rotating joint, allowing the wheeled robot to avoid obstructions in a vertical direction. The wheeled robot performed driving and obstacle avoidance using only pressure sensors, which allows the wheeled robot operate in the invisible environment. An obstacle avoidance experiment was conducted to evaluate the performance of the wheeled robot consisting of two active driven wheeled robot modules and one passive driven wheeled robot module. The wheeled robot successfully avoided step-shaped obstacles with a maximum height of 80 mm in a time of 24.5 seconds using only a pressure sensors, which confirms that the wheeled robot possible to perform the driving and the obstacle avoidance in invisible environment.

• 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 Navigation Technology
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• v.26 no.4
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• pp.226-234
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• 2022

With advances in autonomous vehicles and networked control, there is a growing interest in the consensus control of a multi-agents system to control multi-agents with distributed control beyond the control of a single agent. Since consensus control is a distributed control, it is bound to have delay in a practical system. In addition, it is often difficult to have a very accurate mathematical model for a system. Even though a reinforcement learning (RL) method was developed to deal with these issues, it often experiences slow convergence in the presence of large uncertainties. Thus, we propose a slide RL which combines the sliding mode control with RL to be robust to the uncertainties. The structure of a sliding mode control is introduced to the action in RL while an auxiliary sliding variable is included in the state information. Numerical simulation results show that the slide RL provides comparable performance to the model-based consensus control in the presence of unknown time-varying delay and disturbance while outperforming existing state-of-the-art RL-based consensus algorithms.

• Journal of the Korean Institute of Intelligent Systems
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• v.10 no.4
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• pp.330-337
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• 2000

This paper proposes a new concept of coordinating green this which controls 10 traffic intersection systems. For instance, if we have a baseballs game at 8 pm today, traffic volume toward the baseball game at 8 pm today, traffic volume toward the baseball game will be incr eased 1 hour or 1 hour 30 minutes before the baseball game. at that time we can not pred ict optimal green time Even though there have smart elctrosensitive traffic light system. Therefore, in this paper to improve average vehicle speed and reduce average vehicle waiting time, we created optimal green time using fuzzy rules and neural network. Computer simulation results proved reducing average vehicle waiting time proposed coordinating green time better than electro-sensitive traffic light system. Therefore, in this paper to improvevehicle speed and reduce average vehicle waiting time, we created optiual green time fuzzy rules and neural network. Computer simulation results proved reducing average vehicle waiting time which proposed coordinating green time better than electro-sensitive traffic light system dosen't consider coordinating green time.

• Proceedings of the Korean Institute of Intelligent Systems Conference
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• 2000.05a
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• pp.292-297
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• 2000

This paper proposes a new concept of coordinating green time which controls 10 traffic intersection systems. For instance, if we have a baseball game at 8 pm today, traffic volume toward the baseball game at 8 pm today, traffic volume toward the baseball game will be increased 1 hour or 1 hour and 30 minutes before the baseball game. At that time we can not predict optimal green time Even though there have smart elctro-sensitive traffic light system. Therefore, in this paper to improve average vehicle speed and reduce average vehicle waiting time, we created optimal green time using fuzzy rules and neural network. Computer simulation results proved reducing average vehicle waiting time which proposed coordinating green time better than electro-sensitive traffic light system dosen't consider coordinating green time.

• Journal of Korean Society of Transportation
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• v.20 no.1
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• pp.65-76
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• 2002

This study is realized using fuzzy evaluation and AHP(the analytic hierarchy process) for the optimum search of traffic route and estimated by the quantitative analysis in the vague subjective judgement. It is different from classical route search and noticed thinking method of human. Appraisal element, weight, appraisal value of route is extracted from basic of the opinion gathering fur the driving expert and example of route model was used for the finding of practice utility. Model assessment was performed attribute membership function making of estimate element, estimate value setting, weight define by the AHP, non additive presentation of weight according to $\lambda$-fuzzy measure, Choquet fuzzy integral.