• 제목/요약/키워드: Indoor Locomotion

검색결과 14건 처리시간 0.016초

IR 센서와 영상정보를 이용한 다 개체 로봇의 장애물 회피 방법 (Obstacle Avoidance Method for Multi-Agent Robots Using IR Sensor and Image Information)

  • 전병승;이도영;최인환;모영학;박정민;임묘택
    • 제어로봇시스템학회논문지
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    • 제18권12호
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    • pp.1122-1131
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    • 2012
  • This paper presents obstacle avoidance method for scout robot or industrial robot in unknown environment by using IR sensor and vision system. In the proposed method, robots share the information where the obstacles are located in real-time, thus the robots can choose the best path for obstacle avoidance. Using IR sensor and vision system, multiple robots efficiently evade the obstacles by the proposed cooperation method. No landmark is used at wall or floor in experiment environment. The obstacles don't have specific color or shape. To get the information of the obstacle, vision system extracts the obstacle coordinate by using an image labeling method. The information obtained by IR sensor is about the obstacle range and the locomotion direction to decide the optimal path for avoiding obstacle. The experiment was conducted in $7m{\times}7m$ indoor environment with two-wheeled mobile robots. It is shown that multiple robots efficiently move along the optimal path in cooperation with each other in the space where obstacles are located.

실외환경에서의 이동 목표 추종용 로봇의 개발 (Development of The Moving Target Tracking Robot in Outdoor Environment)

  • 안철기;이민철
    • 제어로봇시스템학회논문지
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    • 제8권11호
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    • pp.954-962
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    • 2002
  • In a park or street, we can see many people jogging or walking with their dogs tracking their masters. In this study, an entertainment robot that imitates a dog's behavior is created. The robot's task is tracking a moving target that is recognized as the master. In order to design the robot, the ecological approach. in which the robot's goals and surroundings heavily influence its design, is used. A three-wheel type locomotion system is designed as the robot's physical structure which can follow a human jogging in outdoor space like a park. A sensor system which can detect the position of a master for the robot in the outdoor space, is developed. This sensor system consists of a signal transmitter which is at the hand of a master and some sensors which are mounted on the robot. The transmitter emits RF(radio frequency) and ultrasonic signals and the sensors detect the direction and distance from the robot to the transmitter by using the received signals. For the control architecture of the robot, a purely reactive behavior-based method is used in order to increase speed of response. The developed robot is evaluated through experiments conducted in indoor and outdoor environments.

Development of a Pet Robot Chasing a Moving Person in Outdoor Environment

  • Ahn, Cheol-Ki;Lee, Min-Cheol;Aoshima, Nobuharu
    • International Journal of Precision Engineering and Manufacturing
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    • 제6권4호
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    • pp.67-72
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    • 2005
  • In a park or street, we can see many people jogging or walking with their dogs that are chasing their masters. In this study, a pet robot that imitates dog's behavior is developed. The task of robot is to chase a person who is recognized as the master. The physical structure and the sensor system are designed for the task and environment. A three-wheel type locomotion system is designed as the robot's physical structure which can follow a person who is jogging in outdoor environment like a park. A sensor system, which can detect relative position of the master to the robot in highly dynamic and hazardous worlds, is developed. This sensor system consists of a signal transmitter which is held by the master and ultrasonic sensor array which are mounted on the robot. The transmitter emits RF (radio frequency) and ultrasonic signals simultaneously. The ultrasonic sensor array detects the signals and calculates direction and distance between the robot and the transmitter. The developed RF-ultrasonic sensor is evaluated through experiments. A purely reactive behavior-based control architecture is used for the robot. The behavior control performance of the robot is assessed in outdoor and indoor tests.

충북의 2010년 이후 신설된 학교 분석을 통한 저층부 배치 시설 및 공간 특성 연구 (A Study on the Facilities Layout of Lower Floor and Space Characteristics Through Analysis of Newly Established Schools in Chungbuk since 2010)

  • 강혜진;정진주
    • 교육시설 논문지
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    • 제22권2호
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    • pp.3-13
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    • 2015
  • The policy of the Ministry of education through the social awareness and issues are being changed. Accordingly, in response to the school building which also has to be changed. This study is Low-floor(1~2 floor) for high accessibility, important management and a lot of locomotion. This study is analysis by floor of newly established schools in Chungbuk. Facility and space on the possible low-floor situated are classified administrative zone, health zone, student support + local exchange zone, STEAM(creativity, personality) supporting zone. The administrative area includes administration office, principal's office and board rooms. The administrative zone is located against schoolyard. Because it is possible visual control of schoolyard. also it controls visitor access so it is placed near main entrance. Health zone is located near a special class, counseling center and wee class for emergency situation. and is located near schoolyard for visual control. Student support + local exchange area includes library and computer lab, audio-visual room, auditorium or gymnasium. It put more emphasis resident welfare, culture and education. So it opens for local residents. It is located center of few stories or near entrance. STEAM(creativity, personality) supports science lab, art room, family room. It is possible such a theory class, experience class and indoor and outdoor class. It is located few floors. This study is used as a reference for school building projects planing.