• 제어로봇시스템학회:학술대회논문집
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• 1996.10b
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• pp.449-452
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• 1996

In this paper, a robust.adaptive control scheme is presented for precise trajectory tracking of nonholonomic mobile robots. In the controller, a set of desired trajectory is defined and used in constructing the control input which constitutes the main part of the proposed controller. The stable operating characteristics such as precise trajectory tracking, parameter estimation, disturbance suppression, tec., are shown through experiments as well as computer simulation.

• 제어로봇시스템학회:학술대회논문집
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• 1996.10b
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• pp.932-935
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• 1996

This paper proposes position estimation and path-tracking of a wheeled-mobile robot(WMR). Odometry and two distance measuring sensors are used to measure distance between guide wall and body and to locate its own position. And extended Kalman filter is introduced to fusion sensors and reduce noise. State feedback controller using the estimated position and path-tracking miles guidance control system. The computer simulation shows that proposed algorithm is well coincide with theoretical approach.

• Transactions on Control, Automation and Systems Engineering
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• v.2 no.3
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• pp.201-206
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• 2000

In this paper, a posture control for nonholonomic mobile robots is proposed with an empirical basis. In order to obtain fast and consecutive motions in realistic applications, the motion requirements of a mobile robot are defined. Under the assumption of a velocity controller designed with the selection guidance of control parameters, the algorithm of posture control is presented and experimentally demonstrated for practicality and effectiveness.

• Proceedings of the KIEE Conference
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• 2001.11c
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• pp.307-310
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• 2001

Mobile AGV is one of the nonholon-omic systems. The integration of the kinematic adaptive controller for the dynamic in this pa-per introduction a motion control problem's dynamic state feedback as well as output feedback tracking laws will be constructed with the adaptive extension of the controller is proposed. Feedback control strategies for mobile AGV are important to compensate for disturabances and errors in the initial condition. The problems of path following or tracking and of stabilization about a constant configuration have been treated as separate problems for nonholonomic mobile AGV.

• The Journal of the Acoustical Society of Korea
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• v.25 no.4E
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• pp.148-153
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• 2006

A new normalized MBD algorithm is presented for nonstationary convolutive mixtures and its properties/modifications are discussed in details. The proposed algorithm normalizes the signal spectrum in the frequency domain to provide faster stable convergence and improved separation without whitening effect. Modifications such as nonholonomic constraints and off-diagonal learning to the proposed algorithm are also discussed. Simulation results using a real-world recording confirm superior performanceof the proposed algorithm and its usefulness in real world applications.

• Proceedings of the KIEE Conference
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• 2008.07a
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• pp.1829-1830
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• 2008

The paper deals with leader-follower formations of nonholonomic mobile robots using least square method in order to maintain the formation constantly. The nonholonomic property of the mobile robot cause us to use the least square method. Then, the performance of the developed formation controller is verified by simulation results.

• International Journal of Fuzzy Logic and Intelligent Systems
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• v.9 no.3
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• pp.206-212
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• 2009

This paper presents an optimized integrated task planning and control approach for manipulating a nonholonomic robot by mobile manipulators. Then, we derive a kinematics model and a mobility of the mobile manipulator(M2) platform considering it as the combined system of the manipulator and the mobile robot. to improve task execution efficiency utilizing the redundancy, optimal trajectory of the mobile manipulator(M2) platform are maintained while it is moving to a new task point. A cost function for optimality can be defined as a combination of the square errors of the desired and actual configurations of the mobile robot and of the task robot. In the combination of the two square errors, a newly defined mobility of a mobile robot is utilized as a weighting index. With the aid of the gradient method, the cost function is minimized, so the path trajectory that the M2 platform generates is optimized. The simulation results of the 2 ink planar nonholonomic M2 platform are given to show the effectiveness of the proposed algorithm.

• The Mathematical Education
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• v.15 no.1
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• pp.12-14
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• 1976

• Journal of Institute of Control, Robotics and Systems
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• v.19 no.5
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• pp.429-434
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• 2013

This paper proposes a CPSO (Cooperative Particle Swarm Optimization)-based MPC (Model Predictive Control) scheme to deal with formation control problem of multiple nonholonomic mobile robots. In a distributed MPC framework, each robot needs to optimize control input sequence over a finite prediction horizon considering control inputs of the other robots where their cost functions are coupled by the state variables of the neighboring robots. In order to optimize the control input sequence, a CPSO algorithm is adopted and modified to fit into the formation control problem. Experiments are performed on a group of nonholonomic mobile robots to demonstrate the effectiveness of the proposed CPSO-based MPC for multi-robot formation.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.59 no.4
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• pp.803-808
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• 2010

We propose a smooth path planning method for autonomous mobile robots. Due to nonholonomic constraints by obstacle avoidance, the smooth path planning is a complicated one. We generate smooth path that is considered orientation of robot under nonholonomic constraints. The proposed smooth planning method consists of two steps. Firstly, the initial path composed of straight lines is obtained from V-graph by Dijkstra's algorithm. Then the initial path is transformed by changing the curve. We apply the cardinal spline into the stage of curve generation. Simulation results show a performance of proposed smooth path planning method.