• 한국전자통신학회논문지
• /
• 제5권2호
• /
• pp.214-220
• /
• 2010

본 연구에서는 로봇 미들웨어 기술 중 국제표준으로 채택된 RTC를 이용하여 이동 로봇 시스템의 구성요소에 대한 컴포넌트를 개발하였다. 또한 미들웨어 네트워크를 기반으로 이동 로봇 구성요소를 서로 연결하여 하나의 시스템을 구현하였으며 실제 이동 로봇인 NRLAB 02를 이용하여 구현한 이동 로봇 시스템의 성능 시험을 수행하였다.

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

• 정보통신설비학회논문지
• /
• 제10권3호
• /
• pp.98-102
• /
• 2011

This paper proposes a method of a touch-based remote control and sensor information acquisition of a mobile robot using a smart phone. An application in a smart phone processes the acquired sensor information and conducts autonomous navigation. By touching the screen of the smart phone, a series of points obtained from designated curve traces are analyzed and provide control of a robot. This study develops a mobile application that acquires and handles data from a mobile robot and sends appropriate action commands through remote control using Bluetooth communication with a smart phone. The utility and performance of the proposed control scheme have been successfully verified through experimental tasks using an actual smart phone and a mobile robot.

• 한국정밀공학회지
• /
• 제17권8호
• /
• pp.189-197
• /
• 2000

This paper addresses that the autonomous mobile robot with the function of teaching a moving path by speech and avoiding a collision is developed. The use of human speech as the teaching method provides more convenient user-interface for a mobile robot. In speech recognition system a speech recognition algorithm using neural is proposed to recognize Korean syllable. For the safe navigation the autonomous mobile robot needs abilities to recognize a surrounding environment and to avoid collision with obstacles. To obtain the distance from the mobile robot to the various obstacles in surrounding environment ultrasonic sensors is used. By the navigation algorithm the robot forecasts the collision possibility with obstacles and modifies a moving path if it detects a dangerous obstacle.

• 대한임베디드공학회논문지
• /
• 제15권6호
• /
• 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.

• 제어로봇시스템학회:학술대회논문집
• /
• 제어로봇시스템학회 2002년도 ICCAS
• /
• pp.119.1-119
• /
• 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

• International Journal of Control, Automation, and Systems
• /
• 제1권3호
• /
• pp.376-384
• /
• 2003

In this paper, the simple geometric kinematics of a three-wheeled holonomic mobile robot is proposed. Wheel architecture is developed for the holonomic mobile platform in order to provide omni-directional motions by three individually driven and steered wheels. Three types of basic motions are proposed for the path generation of the developed mobile robot. All paths of the mobile robot can be achieved through a combination of the proposed basic motion trajectories. The proposed method is verified through computer simulations and the developed mobile robot.

• 제어로봇시스템학회:학술대회논문집
• /
• 제어로봇시스템학회 1997년도 한국자동제어학술회의논문집; 한국전력공사 서울연수원; 17-18 Oct. 1997
• /
• pp.187-190
• /
• 1997

In the past few years, many researchers are interesting of control of mobile robot with nonholonomic constraints. And tracking problems is important as well as regulation in nonholonomic system control. Some researchers have investigated the stable tracking control law for mobile robot. But, few results showed the globally asymptotically stable control method simply. So, we address the design of globally asymptotically stable tracking control law for mobile robot with nonholonomic velocity constraints using simple method. The stabilizability of the controller is derived by Lyapunov direct method. And we analyze the system responses according to the variation of control parameters in line tracking problem. It is derived that the responses represent no overshoot property in line tracking. Examples are two-wheeled mobile robot and car-like mobile robot and the simulation results represent the effectiveness of our method.

• 대한전기학회:학술대회논문집
• /
• 대한전기학회 2001년도 합동 추계학술대회 논문집 정보 및 제어부문
• /
• pp.72-75
• /
• 2001

In this paper, the kinematic model and motion control of a joint-actuated mobile robot are analyzed. To take an efficient approach to the wheeled mobile robots, the relationship between wheel rotation and the contact point of the wheel is considered. It is shown that each addition of a joint to a mobile robot increases the degree of freedom(DOF) of mobile robot, and the way of joint attachment to a mobile robot is proposed. To get a solution of inverse kinematics of mobile robot, two types of approaches are proposed.

• 제어로봇시스템학회:학술대회논문집
• /
• 제어로봇시스템학회 2001년도 ICCAS
• /
• pp.25.1-25
• /
• 2001

Intelligent Space is a space where many sensors and intelligent devices are distributed. Mobile robots exist in this space as physical agents, which provide human with services. To realize this, human and mobile robots have to approach each other as much as possible. Moreover, it is necessary for them to perform interactions naturally. Thus, it is desirable for a mobile robot to carry out human-affnitive movement. In this research, a mobile robot is controlled by the Intelligent Space through its resources. The mobile robot is controlled to follow walking human as stably and precisely as possible.