• 대한전기학회:학술대회논문집
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• 대한전기학회 1998년도 하계학술대회 논문집 G
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• pp.2360-2362
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• 1998

This paper presents a new collison-free trajectory problem for SCARA robot manipulator. we use artificial potential field for collison detection and avoidance. The potential function is typically defined as the sum of attractive potential pulling the robot toward the goal configuration and a repulsive potential pushing the robot away from the obstacles. In here, end-effector of manipulator is represented as a particle in configuration space and moving obstacles is simply represented, too. we consider not fixed obstacle but moving obstacle in random. So, we propose new distance function of artificial potential field with moving obstacle for SCARA robot. At every sampling time, the artificial potential field is update and the force driving manipulator is derived from the gradient vector of artificial potential field. To real-time path planning, we apply very simple modeling to obstacle. Some simulation results show the effectiveness of the proposed approach.

• 제어로봇시스템학회논문지
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• 제16권4호
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• pp.361-367
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• 2010

This paper reports the development of a mobile robot for patrol using a single laser range finder. A Laser range finder is useful for outdoor environment regardless of illumination change or various weather conditions. In this paper we combined the motion control of the mobile robot and the algorithm for detecting the outdoor environment. For obstacle avoidance, we adopted the Vector Field Histogram algorithm. A laser range finder is mounted on the mobile robot and looking down the road with a small tilt angle. We propose an algorithm for detecting the surface of the road. The outdoor patrol robot platform is equipped with a DGPS system, a gyro-compass sensor, and a laser range finder. The proposed obstacle avoidance and road detection algorithms were experimentally tested in success.

• 터널과지하공간
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• 제30권1호
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• pp.76-86
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• 2020

본 연구에서는 라이다 센서를 활용한 지하광산용 소형 자율주행 로봇을 개발하였다. 개발된 로봇은 라이다 센서를 사용하여 좌, 우 벽면까지의 거리를 측정하고, 지하광산 갱도의 중앙선을 따라 이동하도록 조향을 자동 제어한다. 개발된 로봇의 주행성능을 테스트하기 위해 지하 자수정광산에서 현장실험 수행하였다. 5번의 반복 실험에서 로봇은 전체적으로 안정적인 주행성능을 보여주었다. 광산 갱도 벽면과의 충돌 사고도 발생하지 않았다.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2005년도 ICCAS
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• pp.1657-1661
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• 2005

The velocity dipole field method is presented for real-time collision avoidance of mobile robots. The direction of motion of the obstacle is used as the axis of the dipole field, and the speed of the obstacle is used to proportionally strengthen the dipole field. The elliptical field lines of the dipole field are useful to skillfully guide the robot around obstacles, quite similar to the way humans avoid moving obstacles. Field modulation coefficient is also introduced to weaken the field effect as the obstacle recedes. The real-time algorithm of the velocity dipole field has been devised and experimentally tested on the robot soccer test-bed. The results show the capability of the new real-time collision avoidance strategy and how it can overcome the weaknesses in the conventional potential field method. The new method makes an explicit and proactive action of collision avoidance, unlike the conventional method, which forces the robot merely away from the obstacle aimlessly. The proposed method delivers greater capability with no considerable computational overhead

• 한국지능시스템학회논문지
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• 제12권1호
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• pp.27-32
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• 2002

본 논문은 MR(magneto-resistive)센서를 이용한 실외형 자율 이동 로봇의 퍼지 조향 제어기에 대한 연구이다. 2개의 MR 센서를 이용한 지구자기장의 제거방법을 제안하고, 각각의 센서에서 측정된 자기장 차이값(dBy, dBz)을 입력변수로 사용한 퍼지 조향 제어기를 설계하였다. 자율 이동 로봇 시뮬레이션 프로그램을 개발하기 위해 MR센서의 모델링, 이동로봇의 동적모델링, 좌표변환 등을 하였다. 컴퓨터 시뮬레이션은 퍼지 로직을 이용한 이동로봇 제어기의 주행성능을 검증하기 위해 사용되었고 그 시뮬레이션을 통하여 제안한 퍼지 조향제어기의 강인성을 검증하였다.

• 한국전자통신학회논문지
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• 제8권11호
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• pp.1713-1718
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• 2013

본 논문은 로봇 미들웨어 기술 중 ROS(Robot Operating System)를 이용하여 이동 로봇의 원격 제어 및 인공전위계를 이용한 충돌회피를 구현하였으며, 충돌회피 노드에 동적 재구성(dynamic reconfigure)을 적용하였다. 또한 ROS의 주된 목적인 공유와 협업에 맞게 LRF와 조이스틱과 같은 로봇에 자주 사용되는 하드웨어를 ROS에서 제공하는 노드로서 재사용하였다.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2003년도 학술회의 논문집 정보 및 제어부문 A
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• pp.23-26
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• 2003

The vector field histogram(VFH) uses a two-dimensional Cartesian histogram grid as a world model. The VFH method subsequently employs a two-stage data-reduction process in order to compute the desired control commands for the vehicle. In the first stage the histogram grid is reduced to a one dimensional polar histogram that is constructed around the robot's momentary location. Each sector in the polar histogram contains a value representing the polar obstacle density in that direction. In the second stage, the algorithm selects the most suitable sector from among all polar histogram sectors with a low polar obstacle density, and the steering of the robot is aligned with that direction. We applied this algorithm to our four-legged robot.

• 한국화재소방학회:학술대회논문집
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• 한국화재소방학회 2008년도 춘계학술논문발표회 논문집
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• pp.163-167
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• 2008

Fire-fighters are struggling against heat and dense smoke by fire when it occurs at the basement or the inner place of a building. An indoor fire-fighting robot with well heat-resistance, great searching cameras and good extinguishing ability has been developed. It never suffocate, coming into the fire district and extinguishes fire directly. In this study, several experiment was conducted to evaluate field working ability of the fire-fighting robot. As a result, a series of passing obstacles, finding fire place and fire suppression by the remote controlling with image information appeared satisfactory.

• 드라이브 ㆍ 컨트롤
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• 제19권2호
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• pp.1-10
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• 2022

Field robots operate in various areas, including construction, agriculture, forestry and manufacturing. Typical tasks of field robots used in various areas include excavation, flattening, and demolition. Such tasks are often accomplished in narrow alleys or indoors. In the case of field robots, there is a limit to working in a small space. Thus, to compensate for these shortcomings, many field robots equipped with Tiltrotators have recently been observed. The advantages of Tiltrotator are improved task efficiency and reduced operating time by reducing unnecessary behavior. We need simulation models that can improve the ability of new people to work and simulate tasks in advance. Thus, in this paper, we developed a simscape-based simulation model and modeling of 6DOF systems for field robots equipped with Tiltrotator. Dynamic modeling of field robot 3D models using Simcape multibody and hydraulic systems of field robots using Simcape Hydraulics were modeled. We applied a PID controller to create a control system that operates along the input angle. Simulation results show that errors occur when comparing input and output angles, but overall, they move along input angles.

• 전자공학회논문지SC
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• 제43권6호
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• pp.9-15
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• 2006

최근 로봇 개발의 현황을 살펴보면 인간과 로봇이 공존하면서 인간이 로봇으로부터 서비스를 받을 수 있는 로봇의 개발이 지속적으로 증가하는 추세다. 그 중에서도 특히 관심을 끌고 있는 것은 복지 로봇에 관한 연구이다. 현재 가장 일반화되어 있는 복지 로봇은 시각 장애인의 주행을 도와주는 안내 로봇이며 장애물을 인식하여 안전한 경로를 제공하는 것을 목적으로 한다. 본 논문에서는 장애물 충돌회피의 기능뿐만 다양한 센서를 장착하여 환경 정보를 파악하여 사용자에게 가장 안전한 이동방향과 이동 속도를 제시한다. 또한 지도 정보를 이용하여 사용자에게 가장 친숙하고 안전한 주행 경로를 선택하는 안내 로봇을 제시한다.