• 한국공작기계학회:학술대회논문집
• /
• 한국공작기계학회 1999년도 추계학술대회 논문집 - 한국공작기계학회
• /
• pp.539-543
• /
• 1999

This paper describes a sweeping path planning algorithm for an autonomous smearing robot on commercial autoCAD system. An automatic planner generates a sweeping path pattern by proposed five basic procedures, (1) interfacing architectural CAD system, (2) off-line obstacle map building, (3) scanning the whole workspace for subgoals of sweeping line, (4) tracking sequence of the subgoals, and (5) obstacle avoiding. A sweeping path is planned by sequentially connecting the tracking points in such a way that (1) the connected line segments should be crossed, (2) the total tracking points should be as short as possible, (3) the tracking line should not pass through the obstacle. Feasibility of the developed techniques has been demonstrated on real architectural CAD draft.

• 디지털산업정보학회논문지
• /
• 제5권3호
• /
• pp.39-45
• /
• 2009

In this paper we present a cleaning robot system for an autonomous mobile robot. Our robot performs goal reaching tasks into unknown indoor environments by using sensor fusion. The robot's operation objective is to clean floor or any other applicable surface and to build a map of the surrounding environment for some further purpose such as finding the shortest path available. Using its cleaning robot system for an autonomous mobile robot can move in various modes and perform dexterous tasks. Performance of the cleaning robot system is better than a fixed base redundant robot in avoiding singularity and obstacle. Sensor fusion using the clean robot improves the performance of the robot with redundant freedom in workspace and Map-Building. In this paper, Map-building of the cleaning robot has been studied using sensor fusion. A sequence of this alternating task execution scheme enables the clean robot to execute various tasks efficiently. The proposed algorithm is experimentally verified and discussed with a cleaning robot, KCCR.

• 제어로봇시스템학회논문지
• /
• 제18권12호
• /
• pp.1115-1121
• /
• 2012

This paper proposes a method to extract accurate plane of an object in unstructured environment for a humanoid robot by using a laser scanner. By panning and tilting 2D laser scanner installed on the head of a humanoid robot, 3D depth map of unstructured environment is generated. After generating the 3D depth map around a robot, the proposed plane extraction method is applied to the 3D depth map. By using the hierarchical clustering method, points on the same plane are extracted from the point cloud in the 3D depth map. After segmenting the plane from the point cloud, dimensions of the planes are calculated. The accuracy of the extracted plane is evaluated with experimental results, which show the effectiveness of the proposed method to extract planes around a humanoid robot in unstructured environment.

• 대한전기학회:학술대회논문집
• /
• 대한전기학회 2005년도 제36회 하계학술대회 논문집 D
• /
• pp.2790-2792
• /
• 2005

This paper proposes a path-planning algorithm that enables a robot to reach the goal position while avoiding obstacles. The proposed method, which is based on dynamic programming, finds an optimum path to follow using a modified skeleton map method which exploits information on obstacle positions. Simulation results show the feasibility of the proposed method.

• 제어로봇시스템학회:학술대회논문집
• /
• 제어로봇시스템학회 2001년도 ICCAS
• /
• pp.138.5-138
• /
• 2001

The autonomous robot has the ability of obstacle avoidance and target tracking with some manufactured information. In this paper, it is shown that autonomous mobile robot can avoid fixed obstacles using the map made before and the fuzzy controller is adopted with the global path planing and the local path planing when the robot navigates. With that map sensor, information will be used when an autonomous robot navigates. This paper proves that robot can navigate through optimized route and keep the stable condition.

• 제어로봇시스템학회논문지
• /
• 제12권7호
• /
• pp.693-699
• /
• 2006

An accurate and compact map is essential to an autonomous mobile robot system. For navigation, it is efficient to use an occupancy grid map because the environment is represented by probability distribution. But it is difficult to apply it to the large environment since it needs a large amount of memory proportional to the environment size. As an alternative, a topological map can be used to represent it in terms of the discrete nodes with edges connecting them. It is usually constructed by the Voronoi-like graphs, but in this paper the topological map is incrementally built based on the local grid map using the thinning algorithm. This algorithm can extract only meaningful topological information by using the C-obstacle concept in real-time and is robust to the environment change, because its underlying local grid map is constructed based on the Bayesian update formula. In this paper, the position probability is defined to evaluate the quantitative reliability of the end nodes of this thinning-based topological map (TTM). The global TTM can be constructed by merging each local TTM by matching the reliable end nodes determined by the position probability. It is shown that the proposed TTM can represent the environment accurately in real-time and it is readily extended to the global TTM.

• Journal of Electrical Engineering and Technology
• /
• 제8권4호
• /
• pp.879-888
• /
• 2013

This paper addresses the vision based local path planning system for obstacle avoidance. To handle the obstacles which exist beyond the field of view (FOV), we propose a Panoramic Environment Map (PEM) using the MDGHM-SIFT algorithm. Moreover, we propose a Complexity Measure (CM) and Fuzzy logic-based Avoidance Motion Selection (FAMS) system to enable a humanoid robot to automatically decide its own direction and walking motion when avoiding an obstacle. The CM provides automation in deciding the direction of avoidance, whereas the FAMS system chooses the avoidance path and walking motion, based on environment conditions such as the size of the obstacle and the available space around it. The proposed system was applied to a humanoid robot that we designed. The results of the experiment show that the proposed method can be effectively applied to decide the avoidance direction and the walking motion of a humanoid robot.

• 한국지능시스템학회논문지
• /
• 제21권3호
• /
• pp.329-334
• /
• 2011

본 논문은 실내형 이동로봇에 적용하기 위한 위치인식과 장애물 추적 방법을 제안한다. 제안된 방법을 구현하기 위해 레이저 스캐너가 사용되었으며 로봇이 운행되는 공간의 지도정보를 미리 알고 있다고 가정한다. 레이저 스캐너의 측정치를 지도정보와 매칭해가며 Sequential Monte Carlo (SMC)방법을 이용하여 로봇의 위치를 파악하고 파악된 위치에서 주변 장애물의 위치를 인식하고 다중 물체 추적 알고리즘을 이용함으로써 장애물과의 충돌 위험성 등을 미리 파악할 수 있다. 마지막으로, 본 논문에서 제안한 방법을 실험을 통해 검증한다.

• 한국산학기술학회논문지
• /
• 제15권7호
• /
• pp.4482-4488
• /
• 2014

본 논문은 로봇 전역경로계획을 위하여 위협맵을 생성하는 기법을 제안한다. 로봇의 무장 정보와 적 또는 장애물의 위험정보를 비교하고 신경망 이론 기반의 학습을 수행하여 절대적인 수치로 정량화한 위협맵을 생성한다. 또한 로봇이 제안된 기법으로 생성된 위협맵을 기반으로 경로를 이동한 결과와 기존의 결과를 비교하여 로봇의 위협정도를 파악하여 성능을 검증한다.

• Journal of information and communication convergence engineering
• /
• 제7권3호
• /
• pp.281-285
• /
• 2009

Mobile robot has various sensors for describing the external world. The ultrasonic sensor widely applied to the most mobile robot to detect the obstacle and environment owing to low cost, its easy to use. However, ultrasonic sensor has major problems: the uncertainty information of sensor, false readings caused by specular reflection, multi path effect, low angular resolution and sensitivity to changes in temperature and humidity. This paper describes a sensor system for map building of mobile robot. It was made of low cost PSD (Position Sensitive Detector) sensor array and high speed RISC MPU. PSD sensor is cost effective and light weighting but its output signal has many noises. We propose heuristic S/W filter to effectively remove these noises. The developed map building sensor system was equipped on a mobile robot and was compared with ultrasonic sensor through field test.