• 제어로봇시스템학회:학술대회논문집
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• 2002.10a
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• pp.34.5-34
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• 2002

In this paper we propose a new method for modeling indoor environment with stereo camera and suggest a localization method for mobile robot navigation on the basis of it. From the viewpoint of easiness in map building and exclusion of artificiality, the main idea of this paper is that environment is represented as global topological map and each node has omni-directional metric and color information by using stereo camera and pan/tilt mechanism. We use the depth and color information itself in image pixel as feature for environmental abstraction. In addition, we use only the depth and color information at horizontal centerline in image, where optical axis is passing. The usefulness of this m...

• Proceedings of the Korean Society of Computer Information Conference
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• 2012.01a
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• pp.227-228
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• 2012

실외에서의 위치추적은 GPS(Global Positioning System) 등의 다양한 방법이 활용가능하다. 하지만 실내에서는 사용이 어려워 비전, RFID 및 Zigbee 등을 활용한 다양한 연구가 진행되고 있다. 본 연구에서는 비교적 비용 효과적으로 구축이 가능한 수동형 RFID 태그를 기반 이동형 로봇의 위치 추적 알고리즘을 제안하도록 한다. 총 7 종의 태그에 대하여 각 태그가 가지고 있는 특성을 실험을 통하여 분석하고 분석한 결과에 따라 태그를 배치하여 효과적으로 로봇의 이동에 따른 위치 추적 및 이동방향 예측방법을 기술한다. 제안하는 방법을 실험실 환경에서 레고 마인드스톰을 활용하여 그 효용성을 나타내도록 한다.

• Proceedings of the KIEE Conference
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• 2003.11c
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• pp.476-479
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• 2003

Recently, Bluetooth has been regarded as a new technology for short-range wireless connection. Although initial application of Bluetooth technology has been focused mainly on replacing cables between hand-held devices due to a limited packet size and short-range, general wireless telecommunication such as PAN and Ad hoc networks via Bluetooth-equipped devices is expected to be one of the most popular applications. Wireless equipments have been used to exchange data between host and mobile unit. The exchanging data may be several bytes of control command and the value of sensors with ultra-sonic, vision sensor, and encoder from mobile robot. However, most wireless equipments have some drawbacks such as lack of authentication, large size and high price. On the other hand, the benefits of Bluetooth are small size, low power, low price except short-range. Especially, there are some difficulties when wireless modules are used in indoor environments. In this paper, a method of using wire network in Bluetooth network is investigated as a solution to overcome the short-range problem of Bluetooth and difficulty in indoor environment.

• Journal of Institute of Control, Robotics and Systems
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• v.15 no.8
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• pp.845-850
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• 2009

Localization which estimates a robot's position and orientation in a given environment is very important for mobile robot navigation. Although low-cost sensors are preferred for practical service robots, they suffer from the inaccurate and insufficient range information. This paper proposes a novel approach to increasing the success rate of low-cost sensor-based localization. In this paper, both the previous and the current data obtained from the IR sensors are used for localization in order to utilize as much environment information as possible without increasing the number of sensors. The sensor model used in the monte carlo localization (MCL) is modified so that the accumulated range information may be used to increase the accuracy in estimating the current robot pose. The experimental results show that the proposed method can robustly estimate the robot's pose in indoor environments with several similar places.

• Journal of Institute of Control, Robotics and Systems
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• v.22 no.6
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• pp.470-476
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• 2016

This paper proposes a practical algorithm for the reduction of measurement errors due to drift in a micro-electromechanical system (MEMS) gyros that are used for a mobile robot. Any drift in a MEMS gyro will cause an unbounded growth of errors in the estimation of heading, which makes it nearly useless in applications that require high accuracy over a long operating time. In proposed method, maneuvers of a cleaning robot are observed through encoders' measurement process and a decision to correct bias drift will be made if necessary. The method used in this paper is called the "heading estimation filter". To evaluate the accuracy of the proposed method, a comparison was made between the estimation of the heading of the cleaning robot and one from a motion capture system.

• Journal of Institute of Control, Robotics and Systems
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• v.22 no.9
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• pp.745-752
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• 2016

We suggest an efficient Simultaneous Localization and 3D Polygon Map Building (SLAM) method with Kinect depth sensor for mobile robots in indoor environments. In this method, Kinect depth data is separated into row planes so that scan line segments are on each row plane. After grouping all scan line segments from all row planes into line groups, a set of 3D Scan polygons are fitted from each line group. A map matching algorithm then figures out pairs of scan polygons and existing map polygons in 3D, and localization is performed to record correct pose of the mobile robot. For 3D map-building, each 3D map polygon is created or updated by merging each matched 3D scan polygon, which considers scan and map edges efficiently. The validity of the proposed 3D SLAM algorithm is revealed via experiments.

• 제어로봇시스템학회:학술대회논문집
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• 2002.10a
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• pp.107.3-107
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• 2002

1. Introduction 2. Wall following 3. Obstacle Avoidance 4. Experimental Results 5. Conclusion

• The Journal of the Korea institute of electronic communication sciences
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• v.8 no.3
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• pp.421-432
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• 2013

This paper describes implementation of functions for mobile robot localization, which is one of the vital technologies for autonomous navigation of a mobile robot. There are several function libraries for mobile robot navigation. Some of them have limited applicability for practical use since they can be used only for simulation. Our research focuses on development of functions which can be used for localization of indoor robots. The functions implement deadreckoning and motion model of mobile robots, measurement model of range sensors, and frequently used calculations on angular directions. The functions encompass various types of robots and sensors. Also, various types of uncertainties in robot motion and sensor measurements are implemented so that the user can select proper ones for their use. The functions are tested and verified through simulation and experiments.

• Journal of the Korean Institute of Intelligent Systems
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• v.17 no.6
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• pp.744-748
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• 2007

In this paper, a new localization method of indoor mobile robot using multi IR(infrared) range sensors is proposed. Each IR range sensor detects the edge of obstacles and wall using the acquired range data. The environment map is built by the merging process of the detected edge data of each sensor. The performance of proposed system is verified by the comparison of the real environment and the detected map in experiments.

• 제어로봇시스템학회:학술대회논문집
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• 1993.10a
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• pp.125-132
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• 1993

When a mobile robot moves around autonomously without man-made landmarks, it is essential to recognize the placement of surrounding objects especially for current position estimation, obstacle avoidance, or homing into the work station. In this paper, we propose a novel approach to recognize the floor paln for indoor mobile robot navigation using ultrasonic time-of-flight method. We model the floor plan as a collection of polygonal plane objects and recognize the floor plan by locating edges and vertices of the objects. The direction is estimated by the patterns of transmission beam and reception sensitivity of the ultrasonic transducer, and the distance is estimated by the correlation detection method. We show the validity of the proposed approach through experimental results and discuss the resolution and the accuracy of the estimation of direction and distance.