• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2003년도 ICCAS
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• pp.2461-2466
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• 2003

This paper presents a simple sensor fusion algorithm using neural network for navigation of mobile robots with obstacle avoidance and trap recovery. The multiple sensors input sensor data to the input layer of neural network activating the input nodes. The multiple sensors used include optical encoders, ultrasonic sensors, infrared sensors, a magnetic compass sensor, and GPS sensors. The proposed sensor fusion algorithm is combined with the VFH(Vector Field Histogram) algorithm for obstacle avoidance and AGPM(Adaptive Goal Perturbation Method) which sets adaptive virtual goals to escape trap situations. The experiment results show that the proposed low-level fusion algorithm is effective for real-time navigation of mobile robot.

• The Transactions of the Korean Institute of Electrical Engineers
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• 제41권9호
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• pp.1071-1084
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• 1992

In this paper, the method for navigation and obstacle avoidance of the autonomous mobile robot is proposed. The proposed algorithms are based on the fuzzy inference system which is able to deal with imprecise and uncertain information. The self-tuning algorithm, which adopts the simplex method, modifies the parameters of membership functions of the input-output linguistic variables by changing the support of these fuzzy sets according to the integral of absolute error(IAE) of the system response. The wall-follwing navigation and obstacle avoidance of the mobile robot are based on range data measured from the internal sensors(encoder) and the outer sensors(sonar sensor). In addition, the algorithm for the obstacle detection proposed in this paper is based on the expert's experience. Finally, the effectiveness of navigation and obstacle avoidance algorithm is demonstrated through simulation and experiment.

• Proceedings of the KIEE Conference
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• 대한전기학회 2003년도 학술회의 논문집 정보 및 제어부문 A
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• pp.243-246
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• 2003

In this paper, we propose a novel navigation method combined limit-cycle method and the vector field method for avoidance of unexpected obstacles in the dynamic environment. The limit-cycle method is used to obstacle avoidance in front of the robot and the vector field method is used to obstacle avoidance in the side of robot. The proposed method is tested on pioneer 2-DX mobile robot. The simulations and experiments demonstrate in the effectiveness of the proposed method for navigation of a mobile robot in the complicated and dynamic environments.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1996년도 한국자동제어학술회의논문집(국내학술편); 포항공과대학교, 포항; 24-26 Oct. 1996
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• pp.824-827
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• 1996

Most autonomous mobile robots view things only in front of them. As a result, they may collide against objects moving from the side or behind. To overcome the problem we have built an Active Omni-directional Range Sensor that can obtain omnidirectional depth data by a laser conic plane and a conic mirror. In the navigation of the mobile robot, the proposed sensor system makes a laser conic plane by rotating the laser point source at high speed and achieves two dimensional depth map, in real time, once an image capture. The experimental results show that the proposed sensor system provides the best potential for navigation of the mobile robot in uncertain environment.

• Journal of Institute of Control, Robotics and Systems
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• 제14권11호
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• pp.1130-1138
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• 2008

A mobile robot should be designed to navigate with collision avoidance capability in the real world, coping with the changing environment flexibly. In this paper, a novel navigation method is proposed for fast moving mobile robots using limit-cycle characteristics of the 2nd-order nonlinear function. It can be applied to robots in dynamically changing environment such as the robot soccer. By adjusting the radius of the motion circle and the direction of the obstacle avoidance, the mobile robot can avoid the collision with obstacles and move to the destination point. To demonstrate the effectiveness and applicability, it is applied to the robot soccer. Simulations and real experiments ascertain the merits of the proposed method.

• Journal of the Korean Society of Manufacturing Technology Engineers
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• 제18권6호
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• pp.664-674
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• 2009

This paper presents the theoretical development of a complete navigation problem of a non-holonomic mobile robot by using sonar sensors. To solve this problem, a new method to compute a fuzzy perception of the environment is presented, dealing with the uncertainties and imprecision from the sensory system and taking into account nonholonomic constraints of the robot. Fuzzy perception, fuzzy controller are applied, both in the design of each reactive behavior and solving the problem of behavior combination, to implement a fuzzy behavior-based control architecture. Different experiments in populated environments have proved to be very successful. Our method is able to guide the mobile robot named KUM-Robo safety and efficiently during long experimental time.

• Proceedings of the KIEE Conference
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• 대한전기학회 2001년도 하계학술대회 논문집 D
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• pp.2464-2466
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• 2001

In this paper, a behavior-based fuzzy control of mobile robots for autonomous navigation is presented. Behaviors of mobile robots are divided into two categories: reactive behavior and purposeful behavior, which are incompatible with each other. The former is reaction performed in terms of the sensory data and the latter is action for achieving the goal. The presented method generates appropriate control inputs to the robot to trade-off between the reactive and purposeful behaviors using fuzzy inferences. The method is applied to an synchro-drive type mobile robot and shown to be useful for autonomous robot navigation by providing simulation results.

• International Journal of Contents
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• 제7권2호
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• pp.11-16
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• 2011

In this paper, we develop a mobile MAP open API using HTML5 local storage and the W3C geolocation API. The mobile MAP open API consists of the basic JavaScript MAP API, offline navigation API, and multimedia POI (mPOI) API. The basic JavaScript MAP API creates a map and controls, rotates, and overlays data on the map. The offline navigation API is developed using HTML5 local storage and web storage. The mobile web application downloads and stores mPOIs of works of art to local storage or web storage from a web server. The mPOI API is developed using HTML5 video and audio APIs. We develop a mobile art park guidance application using the developed mobile MAP open API.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 한국정밀공학회 2008년도 추계학술대회 논문집
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• pp.511-512
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• 2008

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2002년도 ICCAS
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• pp.33.4-33
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• 2002

Recently, number of navigation system using GPS and other complementary sensor has been developed to offer high-position accuracy. In this paper, we developed navigation system for mobile robot integrating GPS and DR sensor information provided by fiber optic gyroscopes and encoder information. In the case of short-term applications, integrating this encoder and gyroscope through Kalman filter reliable positioning can be obtained. And for the long-term applications we developed GPS/DR Integration algorithm using Kalman filter