• Journal of the Korean Institute of Telematics and Electronics B
• /
• v.32B no.9
• /
• pp.1154-1161
• /
• 1995

In this paper, a new method is proposed where the vision and ultrasonic sensor are used to recognize obstacles and to obtain its position and size. Ultrasonic snsors are used to obtain the actual navigation path width of the mobile robot. In conjunction with camera images of the path, recognition of obstacles and the determination of its distance, direction, and width are carried out. The characteristics of the sensors and the mobile robots used generally make it difficult to recognize all environments; accordingly, a restricted environment is employed for this study.

• Transactions of the Korean Society of Mechanical Engineers A
• /
• v.41 no.7
• /
• pp.655-663
• /
• 2017

With the development of ICT technology, the indoor utilization of robots is increasing. Research on transportation, cleaning, guidance robots, etc., that can be used now or increase the scope of future use will be advanced. To facilitate the use of mobile robots in indoor spaces, the problem of self-location recognition is an important research area to be addressed. If an unexpected collision occurs during the motion of a mobile robot, the position of the mobile robot deviates from the initially planned navigation path. In this case, the mobile robot needs a robust controller that enables the mobile robot to accurately navigate toward the goal. This research tries to address the issues related to self-location of the mobile robot. A robust position recognition system was implemented; the system estimates the position of the mobile robot using a combination of encoder information of the mobile robot and the absolute space coordinate transformation information obtained from external video sources such as a large number of CCTVs installed in the room. Furthermore, vector field histogram method of the pass traveling algorithm of the mobile robot system was applied, and the results of the research were confirmed after conducting experiments.

• Journal of Korea Multimedia Society
• /
• v.24 no.2
• /
• pp.267-273
• /
• 2021

Recently, the small-size mobile robots with remote-control are rapidly growth which market of mobile is increased in the world. Especially, the smart-phones are widely used for interface device in the small size of a mobile robot. The research goal is control system design which is applied to miniaturization of a mobile robot using smart-phone and it can be confirmed performance for designed system. Meanwhile, the fabrication of mini-mobile robot can also be remote-control operation through the WIFI performance of a smart-phone. The smart-phone is used to remote-control for robot operation which control data transmit to robot via the WIFI network. To drive the robot, we can observe by the smart-phone screen and it can easily adjust the robot drive condition and direction by smart-phone button. Consequentially, there was no malfunction and images were printed out well. However, in drive, because of blind spot, robot was bumped into obstacle. Therefore, the additional test is necessary to sensor for blind spot which sensor can be equipment to mobile robot. In addition, the experiment with robot object recognition is needed.

• IEMEK Journal of Embedded Systems and Applications
• /
• v.15 no.6
• /
• pp.281-287
• /
• 2020

In this paper, we propose a method for estimating a walking direction by which a mobile robots follows a person using TRT (Tensor RT) pose, which is motion recognition based on deep learning. Mobile robots can measure individual movements by recognizing key points on the person's pelvis and determine the direction in which the person tries to move. Using these information and the distance between robot and human, the mobile robot can follow the person stably keeping a safe distance from people. The TRT Pose only extracts key point information to prevent privacy issues while a camera in the mobile robot records video. To validate the proposed technology, experiment is carried out successfully where human walks away or toward the mobile robot in zigzag form and the robot continuously follows human with prescribed distance.

• International Journal of Control, Automation, and Systems
• /
• v.1 no.1
• /
• pp.134-141
• /
• 2003

A major research issue associated with service robots is the creation of an environment recognition system for mobile robot navigation that is robust and efficient on various environment situations. In recent years, intelligent autonomous mobile robots have received much attention as the types of service robots for serving people and industrial robots for replacing human. To help people, robots must be able to sense and recognize three dimensional space where they live or work. In this paper, we propose a three dimensional environmental modeling method based on an edge enhancement technique using a planar fitting method and a neural network technique called "Growing Neural Gas Network." Input data pre-processing provides probabilistic density to the input data of the neural network, and the neural network generates a graphical structure that reflects the topology of the input space. Using these methods, robot's surroundings are autonomously clustered into isolated objects and modeled as polygon patches with the user-selected resolution. Through a series of simulations and experiments, the proposed method is tested to recognize the environments surrounding the robot. From the experimental results, the usefulness and robustness of the proposed method are investigated and discussed in detail.in detail.

• The Transactions of The Korean Institute of Electrical Engineers
• /
• v.59 no.3
• /
• pp.651-656
• /
• 2010

This paper proposes a new dynamic PCA algorithm to recognize types of electric poles, which is necessary for a mobile robot moving along the neutral line for inspecting high-voltage facilities. Since the mobile robot needs to pass over the electric poles and grasp the neutral wire again for the next region inspection, the detection of the electric pole type is a critical factor for the successful passing-over the electric pole. The CCD camera installed on the mobile robot captures the image of the electric pole while it is approaching to the electric pole. Applying the dynamic PCA algorithm to the CCD image, the electric pole type has been classified to provide the stable grasping operation for the mobile robot. The new dynamic PCA algorithm replaces the reference image in real time to improve the robustness of the PCA algorithm, adjusts the brightness to get the clear images, and applies the Laplacian edge detection algorithm to increase the recognition rate of electric pole type. Through the real experiments, the effectiveness of this proposed dynamic PCA algorithm method using Laplacian edge detecting method has been demonstrated, which improves the recognition rate about 20% comparing to the conventional PCA algorithm.

• Proceedings of the KIEE Conference
• /
• 2006.10c
• /
• pp.345-347
• /
• 2006

In this paper, we study the robot controller design using the voice and data communication via CDMA(Code Division Multiple Access) mobile communication network. We design the robot remote controller using the three methods, telephone call speech recognition, DTMF (Dual Tone Multiple Frequency) realization, SMS(Short Message Service) transmission/reception way via CDMA mobile communication network. We investigate the validity and effectiveness of the proposed remote controller which applied to the mobile robot.

• 제어로봇시스템학회:학술대회논문집
• /
• 2001.10a
• /
• pp.126.1-126
• /
• 2001

Navigation in unknown environments, where the robot has no exact geometric information in advance, requires the robot to obtain the destination positions without a map. The utilization of model-based object recognition would be a solution, where the robot can estimate the destination positions from geometric relationships between the recognized objects and the robot. This paper presents a robot System for this kind of navigation, in Which the robot navigates itself to the room designated by room number. Object recognition technique is used to find a door and character recognition is utilized to interpret the room number on the number plate near the door and to determine whether it is the destination or not. The robot has ...

• 제어로봇시스템학회:학술대회논문집
• /
• 2003.10a
• /
• pp.783-788
• /
• 2003

In this paper, we present a new approach to detect and recognize human face in the image from vision camera equipped on the mobile robot platform. Due to the mobility of camera platform, obtained facial image is small and pose-various. For this condition, new algorithm should cope with these constraints and can detect and recognize face in nearly real time. In detection step, ‘coarse to fine’ detection strategy is used. Firstly, region boundary including face is roughly located by dual ellipse templates of facial color and on this region, the locations of three main facial features- two eyes and mouth-are estimated. For this, simplified facial feature maps using characteristic chrominance are made out and candidate pixels are segmented as eye or mouth pixels group. These candidate facial features are verified whether the length and orientation of feature pairs are suitable for face geometry. In recognition step, pseudo-convex hull area of gray face image is defined which area includes feature triangle connecting two eyes and mouth. And random lattice line set are composed and laid on this convex hull area, and then 2D appearance of this area is represented. From these procedures, facial information of detected face is obtained and face DB images are similarly processed for each person class. Based on facial information of these areas, distance measure of match of lattice lines is calculated and face image is recognized using this measure as a classifier. This proposed detection and recognition algorithms overcome the constraints of previous approach [15], make real-time face detection and recognition possible, and guarantee the correct recognition irregardless of some pose variation of face. The usefulness at mobile robot application is demonstrated.

• Proceedings of the Korean Institute of Intelligent Systems Conference
• /
• 2002.05a
• /
• pp.105-108
• /
• 2002

This paper represents the mobile robot control system remote controlled by PDA(personal digital assistance). So far, owing to the development of internet technologies, lots of remote control methods through internet have been proposed. To control a mobile robot through internet and guide it under unknown environment, We propose a control method activated by PDA. In a proposed system, PDA acts as a user interface to communicate with notebook as a controller of the mobile robot system using TCP/IP protocol, and the notebook controls the mobile robot system. The information about the direction and velocity of the mobile robot feedbacks to the PDA and the PDA send new control method produced from the fuzzy inference engine.