• 제어로봇시스템학회논문지
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• 제14권10호
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• pp.1053-1061
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• 2008

In this paper, a moving target tracking using a binocular vision for an omni-directional mobile robot is addressed. In the binocular vision, three dimensional information on the target is extracted by vision processes including calibration, image correspondence, and 3D reconstruction. The robot controller is constituted with SPI(serial peripheral interface) to communicate effectively between robot master controller and wheel controllers.

• 한국인터넷방송통신학회논문지
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• 제10권4호
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• pp.91-97
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• 2010

본 논문은 전방향 이동로봇과 로봇에 탑재된 카메라를 이용한 네트워크기반 원격 감시시스템의 구현에 대하여 기술한다. 제안된 감시시스템은 기존의 건물 곳곳에 설치된 감시 카메라의 영상이 고정된 및 시야에서 침입탐지를 수행하는데 비해 이동로봇을 이용해 원격으로 로봇을 자유롭게 조종해 감시하는 것이 특징이다. 감시시스템 구현에 사용된 이동로봇은 전방향 제어가 가능한 세 개의 바퀴를 가지고 있으며, 이를 네트워크 환경에서 원격으로 제어하고 영상을 획득하기 위해 마이크로소프트사의 MSRDS를 이용해 로봇 기능들을 네트워크 노드에서 실행되는 서비스들로 구현하였다. 실험을 통해 개발된 전방향 이동로봇 원격 감시시스템은 유무선 네트워크 환경에서 자유롭게 이동로봇을 조종하며 원격 모니터링이 가능함을 보여주었다. 또한 개발된 감시시스템은 획득된 원격 영상을 네트워크에 연결된 다른 PC에서 실시간으로 전송받아 색상기만 물체탐지 및 움직임 검출을 수행하였다.

• 대한기계학회논문집A
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• 제31권4호
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• pp.517-524
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• 2007

This paper presents a global localization method using circular correlation of an omni-directional image. The localization of a mobile robot, especially in indoor conditions, is a key component in the development of useful service robots. Though stereo vision is widely used for localization, its performance is limited due to computational complexity and its narrow view angle. To compensate for these shortcomings, we utilize a single omni-directional camera which can capture instantaneous $360^{\circ}$ panoramic images around a robot. Nodes around a robot are extracted by the correlation coefficients of CHL (Circular Horizontal Line) between the landmark and the current captured image. After finding possible near nodes, the robot moves to the nearest node based on the correlation values and the positions of these nodes. To accelerate computation, correlation values are calculated based on Fast Fourier Transforms. Experimental results and performance in a real home environment have shown the feasibility of the method.

• International Journal of Control, Automation, and Systems
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• 제6권1호
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• pp.86-100
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• 2008

Most of the previously employed dynamic modeling approaches, including Natural Orthogonal Complement Algorithm, have limitations on their application to the mobile robot, specifically at singular configurations. Also, in their dynamic modeling of mobile robots, wheel dynamics is usually ignored assuming that its dynamic effect is negligibly small. As a remedy for this, a singularity-free operational space dynamic modeling approach based on Lagrange's form of the D' Alembert principle is proposed, and the singularity-free characteristic of the proposed dynamic modeling is discussed in the process of analytical derivation of the proposed dynamic model. Then an accurate dynamic model taking into account the wheel dynamics of the omni-directional mobile robot is derived, and through simulation it is manifested that the effect of the wheel dynamics on the whole dynamic model of the mobile robot may not be negligible, but rather in some cases it is significantly large, possibly affecting the operational performances of dynamic model-based control algorithms. Lastly, the importance of its accurate dynamic model is further illustrated through impulse analysis and its simulation for the mobile robot.

• 제어로봇시스템학회논문지
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• 제17권12호
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• pp.1227-1233
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• 2011

An effective method of obstacle avoidance for omni-directional mobile robots is proposed to avoid moving obstacles in dynamic environments. Our method uses the concept of circle lists which represent the trajectories of robot and obstacles. This method predicts not only collision position but also collision time, and hence it enables the robot avoiding the most urgent collision first. In order to avoid obstacles, our method uses artificial repulsive force and contraction force. Simulation results show that the robot could avoid obstacles effectively.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1996년도 한국자동제어학술회의논문집(국내학술편); 포항공과대학교, 포항; 24-26 Oct. 1996
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• pp.824-827
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• 1996

Most autonomous mobile robots view things only in front of them. As a result, they may collide against objects moving from the side or behind. To overcome the problem we have built an Active Omni-directional Range Sensor that can obtain omnidirectional depth data by a laser conic plane and a conic mirror. In the navigation of the mobile robot, the proposed sensor system makes a laser conic plane by rotating the laser point source at high speed and achieves two dimensional depth map, in real time, once an image capture. The experimental results show that the proposed sensor system provides the best potential for navigation of the mobile robot in uncertain environment.

• 한국지능시스템학회논문지
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• 제24권4호
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• pp.412-417
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• 2014

본 논문은 세 개의 바퀴로 구동되는 전방향 이동로봇의 제작과 제어에 대해 소개한다. 전방향성 움직임은 독립적인 회전과 병진운동을 통해 이루어진다. 전방향 이동로봇의 기구학과 동역학을 사용하여 장애물 회피에 대한 시뮬레이션도 수행하였다. 실제 로봇을 제어하기 위해 로봇을 제작하고 하드웨어를 구성하였으며, 제어 알고리즘은 DSP와 FPGA 칩에 구현하였다. 모터제어에 필요한 PWM, 엔코더 카운터, 통신 등과 같은 하드웨어는 FPGA에 구현하였다. 조이스틱을 통한 전방향 이동로봇을 제어함으로써 로봇의 동작성을 확인하였다.

• 한국산학기술학회논문지
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• 제10권2호
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• pp.237-242
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• 2009

이동로봇은 고정된 로봇에 비해 작업영역을 확장할 수 있다는 장점이 있다. 하지만 이러한 장점은 센서들을 사용하여 자신의 위치를 추정하거나 로봇이 원하는 목적지를 파악함으로써 얻어질 수 있다. 본 논문은 전방향 위치추정 시스템을 이용한 이동로봇의 주행방법에 대하여 설명하고 있다. 이 시스템은 간단한 위치검출 장치를 이용하여 간소화된 위치 데이터를 프로세서에 제공한다. 즉, 사용자가 로봇의 도착점을 지시하면 이 시스템이 위치 방향을 실시간으로 비교 분석하여 오차를 보정한다. 이를 위하여 원뿔형 거울과 단일 카메라를 사용하였다. 이 결과, 사용자가 로봇을 움직이기 위해 가리킨 타겟을 찾아내는 영상처리 시간을 줄일 수 있었다.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2001년도 ICCAS
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• pp.137.4-137
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• 2001

Omni-directional mobile robots have been employed popularly in several application areas. However, the optimal design has not been considered yet. This paper introduces an optimal design methodology for omni-directional mobile robots. Optimal design parameters such as the offset distance and the wheel radius are identified with respect to isotropy. Furthermore, the force transmission ratio and actuator sizing problem are treated. Conclusivel, three cases are compared minimum actuation, two active caster wheel, and three active caster wheel, we claim that the redundantly actuated mobile robot with three active caster wheel has the best performance.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2003년도 ICCAS
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• pp.2529-2534
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• 2003

A quadruped walking robot has a superior adaptablility as well as highly adaptable mobility in various environments. These special advantages are outstanding in the mobile robot group. In this work, we introduce the method for omni-directional gait and rotational gait which is the generalized control algorithm to perform any direction commands. In addition, to improve the stability of quadruped walking robot, we performed the optimization between walking angle and sequence of feet. The proposed ideas are applied to the actual design of MRWALLSPECT III(Multifunctional Robot for Wall inSpection version 3) that is designed to inspect of the large surface of industrial utilities. By implementing the proposed idea on the robot, it’s effectiveness is experimentally confirmed.