• Proceedings of the KIEE Conference
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• 2003.07d
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• pp.2420-2422
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• 2003

In this paper, two Fuzzy Logics for path planning of an autonomous mobile robot are proposed. If a target point is given, such problems regarding the velocity and object recognition are closely related with path to which the mobile robot navigates. Therefore, to ensure safety navigation of the mobile robot for two fuzzy logic parts, path planning considering the surrounding environment was performed in this paper. First, feature points for local and global path are determined by utilizing Cell Decomposition off-line computation. Second, the on-line robot using two Fuzzy Logics navigates around path when it tracks the feature points. We demonstrated optimized path planning only for local path using object recognition fuzzy logic corresponds to domestic situation. Furthermore, when navigating, the robot uses fuzzy logic for velocity and target angle. The proposed algorithms for path planning has been implemented and tested with pioneer-dxe mobile robot.

• 제어로봇시스템학회:학술대회논문집
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• 2002.10a
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• pp.119.1-119
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• 2002

$\textbullet$ Introduction: Service robot $\textbullet$ Design of the Guide Service Mobile Robot $\textbullet$ Path tracking algorithm $\textbullet$ Path recognition algorithm $\textbullet$ Localization $\textbullet$ Guide lever $\textbullet$ Conclusions: A mobile robot was developed as a service robot

• Journal of Mechanical Science and Technology
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• v.15 no.8
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• pp.1097-1107
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• 2001

In this paper, the wall following navigation algorithm of the mobile robot using a mono vision system is described. The key points of the mobile robot navigation system are effective acquisition of the environmental information and fast recognition of the robot position. Also, from this information, the mobile robot should be appropriately controlled to follow a desired path. For the recognition of the relative position and orientation of the robot to the wall, the features of the corridor structure are extracted using the mono vision system, then the relative position, the offset distance and steering angle of the robot from the wall, is derived for a simple corridor geometry. For the alleviation of the computation burden of the image processing, the Kalman filter is used to reduce search region in the image space for line detection. Next, the robot is controlled by this information to follow the desired path. The wall following control scheme by the PD control scheme is composed of two control parts, the approaching control and the orientation control, and each control is performed by steering and forward-driving motion of the robot. To verify the effectiveness of the proposed algorithm, the real time navigation experiments are performed. Through the result of the experiments, the effectiveness and flexibility of the suggested algorithm are verified in comparison with a pure encoder-guided mobile robot navigation system.

• Journal of the Korean Institute of Telematics and Electronics B
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• v.32B no.10
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• pp.1269-1279
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• 1995

A mobile robot in a nuclear power plant is usually needed to equip the ability of going up and down stairs for a some kind of inspection. For this purpose, it is necessary for the mobile robot to figure out the size of stairs laid on a navigation path to gurantee robot's moving freely. In this paper, to measure the size of stairs existing in front of a mobile robot we designed the stair size recognition unit which can measure the stair's height and width using an ultrasonic sensor and/or a CCD camera. Also to obtain higher reliability of ultrasonic sensing data we proposed the horizontal sensing method. On the assupmtions that the mobile robot generates a trajectory while ascending stairs, we simulated it on a IBM compatible computer. The result showed that the suggested method satisfied our purpose. In a stair size estimation, the detected stair's height error was about .+-.3mm, and width was about .+-.5mm.

• International Journal of Fuzzy Logic and Intelligent Systems
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• v.10 no.4
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• pp.281-286
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• 2010

We propose a space and time based sensor fusion method and a robust landmark detecting algorithm based on sensor fusion for mobile robot navigation. To fully utilize the information from the sensors, first, this paper proposes a new sensor-fusion technique where the data sets for the previous moments are properly transformed and fused into the current data sets to enable an accurate measurement. Exploration of an unknown environment is an important task for the new generation of mobile robots. The mobile robots may navigate by means of a number of monitoring systems such as the sonar-sensing system or the visual-sensing system. The newly proposed, STSF (Space and Time Sensor Fusion) scheme is applied to landmark recognition for mobile robot navigation in an unstructured environment as well as structured environment, and the experimental results demonstrate the performances of the landmark recognition.

• Proceedings of the IEEK Conference
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• 2002.06c
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• pp.29-32
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• 2002

This paper suggest target detection algorithm for mobile robot control using color and shape recognition. In many cases, ultrasonic sensor(USS) is used in mobile robot system to measure the distance between obstacles. But with only USS, it may have many restrictions. So we attached CCD camera to mobile robot to overcome its restrictions. If visual information is given to robot system then robot system will be able to accomplish more complex mission successfully. With acquired vision data, robot looks for target by color and recognize its shape.

• Journal of Institute of Control, Robotics and Systems
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• v.15 no.4
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• pp.445-450
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• 2009

This paper presents a new mobile robot localization method for indoor robot navigation. The method uses hexagon distributed color-coded patches on the ceiling and a camera is installed on the robot facing the ceiling to recognize these patches. The proposed "cell-coded map", with the use of only seven different kinds of color-coded landmarks distributed in hexagonal way, helps reduce the complexity of the landmark structure and the error of landmark recognition. This technique is applicable for navigation in an unlimited size of indoor space. The structure of the landmarks and the recognition method are introduced. And 2 rigid rules are also used to ensure the correctness of the recognition. Experimental results prove that the method is useful.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.60 no.8
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• pp.1577-1585
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• 2011

This paper proposes a posture stabilization control algorithm for a wheeled mobile robot using hybrid visual servo control method with a position based and an image based visual servoing (PBVS and IBVS). To overcome chattering phenomena which were shown in the previous researches using a simple switching function based on a threshold, the proposed hybrid visual servo control law introduces the fusion function based on a blending function. Then, the chattering problem and rapid motion of the mobile robot can be eliminated. Also, we consider the nonlinearity of the wheeled mobile robot unlike the previous visual servo control laws using linear control methods to improve the performances of the visual servo control law. The proposed posture stabilization control law using hybrid visual servoing is verified by a theoretical analysis and simulation and experimental results.

• 제어로봇시스템학회:학술대회논문집
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• 2000.10a
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• pp.161-161
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• 2000

The clean mobile robot for wafer transfer is AGV that carry each wafer to each equipment. It has wafer handling technology, wafer ID recognition technology, position calibration technology using vision system, and anti-vibration technology. Wafer loading/unloading working accuracy is within ${\pm}$1mm, ${\pm}$3$^{\circ}$. By application of this AGV, we can reduce the manufacturing tack time and bring cost down of equipment.

• Journal of the Korean Society of Industry Convergence
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• v.22 no.2
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• pp.209-218
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• 2019

This study proposes a new approach to Control the Orientation and position based on obstacle avoidance technology by multi sensors fusion and autonomous travelling control of mobile robot system for implimentation of Smart FA. The important focus is to control mobile robot based on by the multiple sensor module for autonomous travelling and obstacle avoidance of proposed mobile robot system, and the multiple sensor module is consit with sonar sensors, psd sensors, color recognition sensors, and position recognition sensors. Especially, it is proposed two points for the real time implementation of autonomous travelling control of mobile robot in limited manufacturing environments. One is on the development of the travelling trajectory control algorithm which obtain accurate and fast in considering any constraints. such as uncertain nonlinear dynamic effects. The other is on the real time implementation of obstacle avoidance and autonomous travelling control of mobile robot based on multiple sensors. The reliability of this study has been illustrated by the computer simulation and experiments for autonomous travelling control and obstacle avoidance.