• 제어로봇시스템학회:학술대회논문집
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• 2001.10a
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• pp.123.1-123
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• 2001

For Autonomous navigation of the mobile robots, the robots' capability to recognize 3D environment is necessary. In this paper, an on-line 3D map building method for autonomous mobile robots is proposed. To get range data on the environment, we use an sensor system which is composed of a structured light and a CCD camera based on optimal triangulation. The structured laser is projected as a horizontal strip on the scene. The sensor system can rotate $\pm$ $30{\Circ}$ with a goniometer. Scanning the system, we get the laser strip image for the environments and update planes composing the environment by some image processing steps. From the laser strip on the captured image, we find a center point of each column, and make line segments through blobbing these center poings. Then, the planes of the environments are updated. These steps are done on-line in scanning phase. With the proposed method, we can efficiently get a 3D map about the structured environment.

• 제어로봇시스템학회:학술대회논문집
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• 2001.10a
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• pp.123.5-123
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• 2001

For autonomous navigation of the mobile robots, the robots' capability to recognize 3D environment is necessary. In this paper, an on-line 3D map building method for autonomous mobile robots is proposed. To get range data on the environment, we use a sensor system which is composed of a structured light and a CCD camera based on optimal triangulation. The structured laser is projected as a horizontal strip on the scene. The sensor system can rotate$\pm$30$^{\circ}$ with a goniometer. Scanning the system, we get the laser strip image for the environments and update planes composing the environment by some image processing steps. From the laser strip on the captured image, we find a center point of each column, and make line segments through blobbing these center points. Then, the planes of the environments are updated. These steps are done on-line in scanning phase. With the proposed method, we can efficiently get a 3D map about the structured environment.

• International Journal of Fuzzy Logic and Intelligent Systems
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• v.2 no.3
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• pp.185-190
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• 2002

In distributed autonomous robotic systems (DARS), each robot must behave by itself according to its states ad environments, and if necessary, must cooperate with other robots in order to carry out their given tasks. Its most significant merit is that they determine their behavior independently, and cooperate with other robots in order to perform the given tasks. Especially, in DARS, it is essential for each robot to have evolution ability in order to increase the performance of system. In this paper, a schema co-evolutionary algorithm is proposed for the evolution of collective autonomous mobile robots. Each robot exchanges the information, chromosome used in this algorithm, through communication with other robots. Each robot diffuses its chromosome to two or more robots, receives other robot's chromosome and creates new species. Therefore if one robot receives another robot's chromosome, the robot creates new chromosome. We verify the effectiveness of the proposed algorithm by applying it to cooperative search problem.

• 제어로봇시스템학회:학술대회논문집
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• 1990.10b
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• pp.1071-1076
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• 1990

This paper proposes a navigation strategy of multiple autonomous mobile robots with communication within a specified space. Assuming that each robot has complete detectability with finite range, simple navigation strategy is derived by introducing repulsive forces between robots and attractive force between a robot and its goal point analogous to those between electric charges. When a robot is close to its goal point, a pseudo-domain based on the distance between the closest point of the domain boundary and the goal point is proposed to enhance its convergence to the goal state. This paper concludes with the results of computer simulation studies on the dynamic behavior of multiple interacting robots with the proposed navigation strategy.

• Proceedings of the Korean Institute of Intelligent Systems Conference
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• 1996.10a
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• pp.323-326
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• 1996

In this paper, we propose a new method of the communication system for cooperative behavior and control in a collective autonomous mobile robots. A communication function among the collective robots is essential to intelligent cooperation. In general, global communication is effective for small number of robots. However when the number of robot goes on increasing, this becomes difficult to be realized because of limited communication capacity and increasing amount of information to handle. And also the problems such as communication interference and improper message transmission occur. So we propose local communication system based on infrared sensor to realize the cooperative behavior and control as the solution of above problem. It is possible to prevent overflow of information and exchange of complex information by combining communicate a specific robot. At last we verify the effectiveness of the proposed communication system from example of cooperative behavior.

• Proceedings of the KIEE Conference
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• 1999.07g
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• pp.3030-3032
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• 1999

This Paper proposes a fuzzy algorithm for cooperative behaviors of multiple autonomous mobile robots. Each robot makes decision of his behavior based on the information obtained by infrared sensors to measure the position and velocities of other robots. The effectiveness of the proposed algorithm is shown by some computer simulation where a group of mobile robots encircles with equi-interval.

• International Journal of Fuzzy Logic and Intelligent Systems
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• v.2 no.1
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• pp.20-25
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• 2002

This paper presents a genetic programming based evolutionary strategy for on-line adaptive learnable evolvable hardware. Genetic programming can be useful control method for evolvable hardware for its unique tree structured chromosome. However it is difficult to represent tree structured chromosome on hardware, and it is difficult to use crossover operator on hardware. Therefore, genetic programming is not so popular as genetic algorithms in evolvable hardware community in spite of its possible strength. We propose a chromosome representation methods and a hardware implementation method that can be helpful to this situation. Our method uses context switchable identical block structure to implement genetic tree on evolvable hardware. We composed an evolutionary strategy for evolvable hardware by combining proposed method with other's striking research results. Proposed method is applied to the autonomous mobile robots cooperation problem to verify its usefulness.

• Proceedings of the KIEE Conference
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• 2008.07a
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• pp.1807-1808
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• 2008

When it is used for autonomous mobile robots by using dead-reckoning system, odometry system with encorder is the simplest method as well as well-known in the industry. However, odometry system is reflected slide, friction and mechanical errors of wheels when operating the position estimation. And also in order to minimize errors of direction angle which is the most important factor that it is designed the controller in controlling kinematics and quadratic curve, PID that came into the values of sensor fusion with encorder and gyroscope sensor. After designing, the autonomous mobile robot is producted practically and inspected how it works.

• 제어로봇시스템학회:학술대회논문집
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• 2000.10a
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• pp.254-254
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• 2000

This paper presents a genetic programming based evolutionary strategy for on-line adaptive learnable evolvable hardware. genetic programming can be useful control method for evolvable hardware for its unique tree structured chromosome. However it is difficult to represent tree structured chromosome on hardware, and it is difficult to use crossover operator on hardware. Therefore, genetic programming is not so popular as genetic algorithms in evolvable hardware community in spite of its possible strength. We propose a chromosome representation methods and a hardware implementation method that can be helpful to this situation. Our method uses context switchable identical block structure to implement genetic tree on evolvable hardware. We composed an evolutionary strategy (or evolvable hardware by combining proposed method with other's striking research results. Proposed method is applied to the autonomous mobile robots cooperation problem to verify its usefulness.

• Journal of Institute of Control, Robotics and Systems
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• v.16 no.1
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• pp.53-60
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• 2010

We propose a motion planning method for autonomous mobile robots. In order to minimize traveling time, a smooth path and a time optimal velocity profile should be generated under kinematic and dynamic constraints. In this paper, we develop an effective and practical method to generate a good solution with lower computation time. The initial path is obtained from voronoi diagram by Dijkstra's algorithm. Then the path is improved by changing the graph and path simultaneously. We apply the dynamic programming algorithm into the stage of improvement. Simulation results are presented to verify the performance of the proposed method.