• 제어로봇시스템학회논문지
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• 제13권3호
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• pp.249-255
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• 2007

Under the situation of a fire, it is difficult for a rescue robot to use sensors such as vision sensor, ultrasonic sensor or laser distance sensor because of diffusion, refraction or block of light and sound by dense smoke. But, braille blocks that are installed for the visaully impaired at public places such as subway stations can be used as a map for autonomous mobile robot's localization and navigation. In this paper, we developed a laser sensor stan device which can detect braille blcoks in spite of dense smoke and integrated the device to the robot developed to carry out rescue mission in various hazardous disaster areas at KIST. We implemented MCL algorithm for robot's attitude estimation according to the scanned data and transformed a braille block map to a topological map and designed a nonlinear path tracking controller for autonomous navigation. From various simulations and experiments, we could verify that the developed laser sensor device and the proposed localization method are effective to autonomous tracking of braille blocks and the autonomous navigation robot system can be used for rescue under fire.

• 정보처리학회논문지B
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• 제11B권7호
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• pp.793-802
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• 2004

3차원 가상환경은 시각정보 위주의 제한적인 정보를 제공한다 이는 사용자가 환경 안에서 방향을 상실하게 되는 원인이 된다. 이를 보완하기 위해 여러 가지 방법의 탐색항해 도구에 대한 연구가 진행 되었다. 본 연구에서는 시맨틱 웹 구축 기술의 하나인 토픽맵 기법을 3차원 가상환경에 적용하여 탐색항해 도구를 설계했다. 토픽맵은 토픽과 토픽 사이의 연결 관계를 정의함으로 의미적 연결지도를 구축한다. 이를 적용한 탐색항해 도구의 활용성 실험에서 대표성이 높은 목표 보다는 세밀한 목표를 찾을 때 효과적으로 탐색항해에 도움이 되고 있음을 보여주었다. 또한 찾고자 하는 목표가 정확하지 않은 상태에서의 탐색항해에서 주제에 관련된 주변 지식의 제공은 사용자의 목표 선택에 효과적임을 확인할 수 있었다.

• 한국항행학회논문지
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• 제13권6호
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• pp.831-837
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• 2009

본 논문에서는 항공사진을 이용하여 제작된 수치지도를 객체관계형 DBMS에 저장하기 위한 방안을 제시하고, 실험을 통해서 그 효율성을 분석하였다. 수치지도는 관리 및 공급을 위해서는 파일단위로 관리되고 있는데, 이로 인해서 연속적인 도형자료를 얻을 수 없으며, 단지 한 개 도면에 포함된 도형개체를 사용할 수 있다. 본 논문은 타일(Tile)기반의 수치지도 개체를 ORDBMS에 입력할 수 있는 형태로 변환한 후에, 일괄적으로 ORDBMS에 저장하였다. 그리고, 전체 도면 중 필요로 하는 도형 개체를 추출할 수 있는 방안을 실험을 통해 증명하였다.

• 제어로봇시스템학회논문지
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• 제22권12호
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• pp.1061-1067
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• 2016

Position of the vehicle for driving is essential to autonomous navigation. However, there appears GPS position error due to multipath which is occurred by tall buildings in downtown area. In this paper, GPS position error is corrected by using camera sensor and highly accurate map made with 3D-Lidar. Input image through inverse perspective mapping is converted into top-view image, and it works out map matching with the map which has intensity of 3D-Lidar. Performance comparison was conducted between this method and traditional way which does map matching with input image after conversion of map to pinhole camera image. As a result, longitudinal error declined 49% and complexity declined 90%.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2004년도 ICCAS
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• pp.690-693
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• 2004

This paper proposes a multi-resolution electrostatic potential field (MREPF) based solution to the mobile robot path planning and collision avoidance problem in 2D dynamic environment. The MREPF is an environment method in calculation time and updating field map. The large scale resolution map is added to EPF and this resolution map interacts with the small scale resolution map to find an optimal solution in real time. This approach can be interpreted with Atlantis model. The simulation studies show the efficiency of the proposed algorithm.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2005년도 ICCAS
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• pp.724-728
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• 2005

This paper represents a development of a range finder sensor module for indoor 2-D mapping and modified Hough transformation for map building. A range finder sensor module has been developed by using optic PSD (Position Sensitive Detector) sensor array at a low price. While PSD sensor is cost effective and light weighting, it has switching noise and white noise. To remove these noises, we propose a heuristic filter. For line-based map building, also we proposed advanced Hough transformation and navigation algorithm. Some experiments were illustrated for the validity of the developed system.

• International Journal of Control, Automation, and Systems
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• 제5권5호
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• pp.577-583
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• 2007

Simultaneous Localization and Mapping (SLAM) is the process of building a map of an unknown environment and simultaneously localizing a robot relative to this map. SLAM is very important for the indoor navigation of a mobile robot and much research has been conducted on this subject. Although feature-based SLAM using an Extended Kalman Filter (EKF) is widely used, it has shortcomings in that the computational complexity grows in proportion to the square of the number of features. This prohibits EKF-SLAM from operating in real time and makes it unfeasible in large environments where many features exist. This paper presents an algorithm which reduces the computational complexity of EKF-SLAM by using topological information (TI) extracted through a thinning process. The global map can be divided into local areas using the nodes of a thinning-based topological map. SLAM is then performed in local instead of global areas. Experimental results for various environments show that the performance and efficiency of the proposed EKF-SLAM/TI scheme are excellent.

• 제어로봇시스템학회논문지
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• 제20권4호
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• pp.449-455
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• 2014

This paper presents a method for developing a TM (Traversability Map) from a DTM (Digital Terrain Model) collected by remote sensors of autonomous mobile robots. Such a map can be used to plan traversable paths and estimate navigation speed quantitatively in real time for robots capable of performing autonomous tasks over rough terrain environments. The proposed method consists of three parts: a DTM partition module which divides the DTM into equally spaced patches, a terrain information module which extracts the slope and roughness of the partitioned patches using the curve fitting and the fractal-based triangular prism method, and a traversability analysis module which assesses traversability incorporating with extracted terrain information and fuzzy inference to construct a TM. The potential of the proposed method is validated via simulation works over a set of fractal DTMs.

• 대한임베디드공학회논문지
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• 제16권6호
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• pp.293-297
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• 2021

This paper presents how to create a 3D map and solve problems related to generating a global path planning for navigation. Map creation and localization were performed using the RTAB-Map package to create a 3D map of the environment. In addition, when the target point is within the obstacle space, the problem of not generating a global path was solved using the asr_navfn package. The performance of the proposed system is validated through experiments with a wheelchair-type robot.

• 제어로봇시스템학회논문지
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• 제18권6호
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• pp.571-578
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• 2012

In the paper, we proposed a ring type structured light image based embedded ranging sensor for a mobile robot. Since the proposed ranging sensor obtains omnidirectional object distance, it is useful for autonomous navigation of a mobile robot. By matching the local omnidirectional distance map with a given global object map, it is possible to get position and heading angle of mobile robot in the global coordinates. Experiments for matching and navigation were carried out to verify the performance of the proposed ranging sensor.