• International Journal of Control, Automation, and Systems
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• 제5권3호
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• pp.343-348
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• 2007

This paper presents an adaptive controller for the compensation of state-dependent disturbance with unknown amplitude in a digital servo motor system. The state-dependent disturbance is caused by friction and eccentricity between the wheel axis and the motor driver of a mobile robot servo system. The proposed control scheme guarantees an asymptotical stability for both the velocity and position regulation. An experimental result shows the effectiveness of the adaptive disturbance compensator for wheeled-mobile robot in a low velocity diffusion tracking. A comparative experimental study with a simple PI controller is presented.

• International Journal of Fuzzy Logic and Intelligent Systems
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• 제12권3호
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• pp.245-249
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• 2012

In this paper, we propose a navigation algorithm for a mobile robot, which is intelligently searching the goal location in unknown dynamic environments using an ultrasonic sensor. Instead of using "sensor fusion" method which generates the trajectory of a robot based upon the environment model and sensory data, "command fusion" method is used to govern the robot motions. The navigation strategy is based on the combination of fuzzy rules tuned for both goal-approach and obstacle-avoidance. To identify the environments, a command fusion technique is introduced, where the sensory data of ultrasonic sensors and a vision sensor are fused into the identification process.

• 한국지능시스템학회논문지
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• 제20권5호
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• pp.652-658
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• 2010

본 논문에서는 밸런싱 메커니즘의 두 바퀴 형태의 이동로봇(Two Wheeled Mobile Robot:TWMR)을 구현하고 제어한다. TWMR은 역진자 시스템과 이동로봇을 합친 모바일 역진자 구조로 기존의 막대 형태의 진자대신 두 팔 달린 로봇 형태를 나타낸다. 각도와 위치에 대한 동시제어에 있어 외란에 대한 강건성을 부여하기 위해 RBF 신경회로망 제어 방식을 사용한다. 신경회로망 제어 방식으로는 입력보상 방식(RCT)을 사용하여 제어기의 성능을 실험을 통해 검증한다. 또한 원격으로 제어가능하게 하도록 시스템을 구현하여 실험하였다.

• International Journal of Fuzzy Logic and Intelligent Systems
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• 제4권2호
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• pp.165-171
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• 2004

Robots will be able to coexist with humans and support humans effectively in near future. One of the most important aspects in the development of human-friendly robots is to cooperation between humans and robots. In this paper, we proposed a method for multi-object identification in order to achieve such human-centered system and robot localization in intelligent space. The intelligent space is the space where many intelligent devices, such as computers and sensors, are distributed. The Intelligent Space achieves the human centered services by accelerating the physical and psychological interaction between humans and intelligent devices. As an intelligent device of the Intelligent Space, a color CCD camera module, which includes processing and networking part, has been chosen. The Intelligent Space requires functions of identifying and tracking the multiple objects to realize appropriate services to users under the multi-camera environments. In order to achieve seamless tracking and location estimation many camera modules are distributed. They causes some errors about object identification among different camera modules. This paper describes appearance based object representation for the distributed vision system in Intelligent Space to achieve consistent labeling of all objects. Then, we discuss how to learn the object color appearance model and how to achieve the multi-object tracking under occlusions.

• 한국지능시스템학회논문지
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• 제13권1호
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• pp.70-75
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• 2003

기존 이동로봇의 활발한 연구와 더불어 다양한 형태의 이동로봇이 등장하였다. 이에 본 논문에서는 8축으로 구성된, 총 16 Degree Of Freedom을 가지는 다 관절 뱀 로봇을 제작하였다. 뱀 로봇은 지면과의 진행 마찰력을 고려하여 무동력 바퀴를 사용하였다. 또한 PC Cam과 초음파 센서를 사용하여 각 관절이 움직일 수 있는 Joint Angle을 나타내기 위하여 Target의 색상과 거리를 입력으로 하였다. 뱀 로봇은 머리부분, 몸통 그리고 꼬리부분으로 나뉘어 진행하는 방식을 가지며 PC Cam 을 통해 화면에 보여지는 움직이는 특정 목표물에 대하여 진행을 하며, 진행 중 움직이거나 고정되어있는 Obstacle이 포착될 경우 충돌회피를 통하여 Target을 추종하는 방식을 실험적으로 보이고자 한다.

• 로봇학회논문지
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• 제5권1호
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• pp.64-69
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• 2010

In this paper, we propose remote navigation control for intelligent robot using particle swarm optimization(PSO). The proposed system consists of interfaces for intelligent robot navigation and user interface in order to control the intelligent robot remotely. And communication interfaces using TCP/IP socket is used. To do this, we first design the fuzzy navigation controller based on expert's knowledge for intelligent robot navigation. At this time, we use the PSO algorithm in order to identify the membership functions of fuzzy control rules. And then, we propose the remote system in order to navigate the robot remotely. Finally, we show the effectiveness and feasibility of the developed controller and remote system through some experiments.

• International Journal of Fuzzy Logic and Intelligent Systems
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• 제6권2호
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• pp.161-166
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• 2006

Localization of mobile agent within a sensing network is a fundamental requirement for many applications, using networked navigating systems such as the sonar-sensing system or the visual-sensing system. To fully utilize the strengths of both the sonar and visual sensing systems, This paper describes a networked sensor-based navigation method in an indoor environment for an autonomous mobile robot which can navigate and avoid obstacle. In this method, the self-localization of the robot is done with a model-based vision system using networked sensors, and nonstop navigation is realized by a Kalman filter-based STSF(Space and Time Sensor Fusion) method. Stationary obstacles and moving obstacles are avoided with networked sensor data such as CCD camera and sonar ring. We will report on experiments in a hallway using the Pioneer-DX robot. In addition to that, the localization has inevitable uncertainties in the features and in the robot position estimation. Kalman filter scheme is used for the estimation of the mobile robot localization. And Extensive experiments with a robot and a sensor network confirm the validity of the approach.

• 한국지능시스템학회논문지
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• 제21권3호
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• pp.335-340
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• 2011

본 논문에서는 이동로봇의 원격 제어를 위해 조이스틱 혹은 버튼식 원격제어 방법 대신 아이폰을 사용한 체감형 인터페이스 기반의 원격 제어를 제시한다. 제안된 연구는 아이폰의 가속도센서를 사용하여 로봇을 제어하기 때문에 아이폰을 자동차의 핸들로 응용하여 무선으로 로봇 제어가 가능하다. 아이폰을 이용하기 위해 아이폰의 가속도 센서를 측정 및 분석하고 디지털 필터를 사용하여 가속도 센서 값을 안정화 시켰다. 이동 로봇과 아이폰간의 통신을 위해 블루투스 방법이 채택 되었다. 본 연구에서는 네가지의 통신 방법을 제시하였고 이 중 가장 적절한 통신방법을 택하였다. 실험 결과로서 제안된 아이폰 기반의 체감형 인터페이스는 쉽고 편리하게 이동 로봇의 원격 제어를 가능하게 해주었다.

• 대한기계학회:학술대회논문집
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• 대한기계학회 2003년도 춘계학술대회
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• pp.792-798
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• 2003

This paper is about implementation of intelligent robot based on home network. Existing robots are mainly stand alone type. Home network is spreading rapidly and can play an important role as a path for informations between appliances in home. Robot can be more intelligent and have versatile functions with a junction of home network. By distribution of tasks through home network, robot doesn't have to process every task. In addition, robot can access to appliances through network as appliances are added continuously. In the future, smart space in which robot behaves on various types of network is in expectation. In this research, home network based system which consists of home server, embedded robot, and intelligent robot is proposed and implemented.

• 대한전자공학회:학술대회논문집
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• 대한전자공학회 2002년도 ITC-CSCC -3
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• pp.1889-1892
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• 2002

In this paper, we propose the self-autonomous algorithm for mobile robot system (MRS). The proposed mobile robot system which is learned by learning with the neural network can trace the target at the same distances. The mobile robot can use ultrasonic sensors and calculate the distance between target and mobile robot. By teaming the setup distance, current distance and command velocity, the robot can do intelligent self-autonomous drive. We use the neural network and back-propagation algorithm as a tool of learning. As a result, we confirm the ability of tracing the target with proposed mobile robot.