• Journal of the Korea Computer Industry Society
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• v.5 no.9
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• pp.993-1004
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• 2004

We propose the method for kinematic and dynamic modeling and Path-tracking of four-wheeled mobile robots with 2 d.o.f having the limited drive-torques. Controllability of wheeled-mobile robots is revealed by using the kinematic model. Instantaneously coincident coordinate system, force/torque propagation and Newton's equilibrium law are used to induce the dynamic model. When drive-torques generated by inverse dynamics exceed the limitation, we make wheeled-mobile robots follow the reference path by modifying the planned reference trajectory with time-scaling. The controller is introduced to compensate for error owing to modeling uncertainty and measurement noise. And simulation results prove that the method proposed by this paper is efficient.

• Journal of Biosystems Engineering
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• v.26 no.6
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• pp.517-524
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• 2001

Steep and narrow ramp installed in the paddy field makes it difficult and sometimes dangerous to drive agricultural machines on it. Because agricultural machinery become larger and heavier, it is necessary to revise design standard for ramp to provide safe travel. This study was conducted to revise the design standard fur paddy field ramp, especially for its width and slope. A mathematical model predicting travelling path of a tractor on paddy field ramp and farm road was developed and simulated. To verify this model, field tests were carried out. The model could predict trvelling path with RMS Error of 12.5cm and 8.2cm, which were judged to be adoptable fur determining the width of paddy field ramp. By applying this model to 110ps tractor, which was assumed to be the largest tractor in Korea, width of paddy field ramp was determined as over 3.6m. The slope of paddy field ramp, which provided tractor with 10% of the total weight of the tractor and the mounted implement as reaction force at front wheel against ground was analyzed by considering weight transfer effect on a ramp. The result showed that adequate slope of paddy field ramp was 14°.

• Journal of Institute of Control, Robotics and Systems
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• v.19 no.7
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• pp.599-604
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• 2013

Path planning of mobile robots has a purpose to design an optimal path from an initial position to a target point. Minimum driving time, minimum driving distance and minimum driving error might be considered in choosing the optimal path and are correlated to each other. In this paper, an efficient driving trajectory is planned in a real situation where a mobile robot follows a moving object. Position and distance of the moving object are obtained using a web camera, and the rotation angular and linear velocities are estimated using Kalman filters to predict the trajectory of the moving object. Finally, the mobile robot follows the moving object using a single curvature trajectory by estimating the trajectory of the moving object. Using the estimation by Kalman filters and the single curvature in the trajectory planning, the total tracking distance and time saved amounts to about 7%. The effectiveness of the proposed algorithm has been verified through real tracking experiments.

• Proceedings of the KSME Conference
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• 2003.04a
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• pp.786-791
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• 2003

This paper proposes an adaptive control algorithm for nonholonomic mobile robots with unknown parameters and the proposed control method is used in numerical simulations for applying to a practical twowheeled welding mobile robot(WMR). The proposed adaptive controller to track an arbitrary given welding path is designed by using back-stepping technique and is derived for a nonlinear model under the assumption such that the system parameters are partially known. Moreover, the proposed adaptive control system is stable in the sense of Lyapunov stability. Inertia moments of system are considered to be unknown parameters and their values can be estimated simply by using update laws proposed in an adaptive control scheme of this research. The simulation results are provided to show the effectiveness of the accurate tracking capability of the proposed controller for two-wheeled welding mobile robot with a smooth curved reference welding path.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.27 no.6B
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• pp.601-609
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• 2002

In multi-path wireless channels with time-variant delay profile, a mobile station measures the received signal strength and report it to network which performs network control function such as handover. In order to improve the maximum ratio combining (MRC) gain, it also should search the strongest signal paths and measure their time offsets fast and exactly. This paper proposes some methods of fast and exactly measuring the multi-path signal strength and time offset. Since the W-CDMA system adopts antenna diversity technique for the next generation high speed packet access (HSDPA) service, we derive the optimum design parameter values for the proposed methods through computer simulations under the HSDPA conditions o( low speed of mobile, of no power control, and of multi-path wireless environment with transmit and receive antenna diversity. Finally, we prove the validity of the proposed methods by showing the improvement of the bit error rate (BER) performance.

• International Journal of Fuzzy Logic and Intelligent Systems
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• v.13 no.4
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• pp.307-314
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• 2013

We designed and implemented a fork-type automatic guided vehicle (AGV) with a laser guidance system. Most previous AGVs have used two types of guidance systems: magnetgyro and wire guidance. However, these guidance systems have high costs, are difficult to maintain with changes in the operating environment, and can drive only a pre-determined path with installed sensors. A laser guidance system was developed for addressing these issues, but limitations including slow response time and low accuracy remain. We present a laser guidance system and control system for AGVs with laser navigation. For analyzing the performance of the proposed system, we designed and built a fork-type AGV, and performed repetitions of our experiments under the same working conditions. The results show an average positioning error of 51.76 mm between the simulated driving path and the driving path of the actual fork-type AGV. Consequently, we verified that the proposed method is effective and suitable for use in actual AGVs.

• Journal of the Korea Society of Computer and Information
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• v.13 no.7
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• pp.67-73
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• 2008

This paper describes a system for location tracking wireless sensor nodes in an indoor environment. The sensor reading used for the location estimation is the received signal strength indication (RSSI) as given by an RF interface. By tagging users with a mobile node and deploying a number of reference nodes at fixed position in the room, the received signal strength indicator can be used to determine the position of tagged users. The system combines Euclidean distance technique with signal strength obtained by measurement driven log-normal path loss model of 2.4 GHz wireless channel. The experimental results demonstrated the ability of this system to estimate the location with a error less than 1.3m.

• Journal of information and communication convergence engineering
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• v.2 no.2
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• pp.71-75
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• 2004

In non-selective frequency environment, it is difficult to take the advantage of path diversity. In the literature, some methods have been proposed to solve the issue. This paper presents a new method to obtain the resolvable path in Indoor Multi-carrier Code Division Multiple Access (MC-CDMA) system by using downlink beam forming. With the aid of downlink beamforming, the most reliable path is found and chosen for the communication link. The new approach is evaluated in term of bit error rate (BER) and power consumption. The simulation results show that the new approach can get better BER performance. However, the cost of BER improvement is a small degradation in power reservation.

• Journal of Drive and Control
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• v.17 no.4
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• pp.80-86
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• 2020

Autonomous driving is one of the most important new technologies of our time; it has benefits in terms of safety, the environment, and economic issues. Path following algorithms, such as automated lane keeping systems (ALKSs), are key level 3 or higher functions of autonomous driving. Pure-Pursuit and Stanley controllers are widely used because of their good path tracking performance and simplicity. However, with the Pure-Pursuit controller, corner cutting behavior occurs on curved roads, and the Stanley controller has a risk of divergence depending on the response of the steering system. In this study, we use the advantages of each controller to propose a hybrid control strategy that can be stably applied to complex driving environments. The weight of each controller is determined from the global and local curvature indexes calculated from HD map information and the current driving speed. Our experimental results demonstrate the ability of the hybrid controller, which had a cross-track error of under 0.1 m in a virtual environment that simulates K-City, with complex driving environments such as urban areas, community roads, and high-speed driving roads.

• International Journal of CAD/CAM
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• v.4 no.1
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• pp.47-53
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• 2004

The subdivision surface is the limit of recursively refined polyhedral mesh. It is quite intuitive that the multi-resolution feature can be utilized to simplify generation of NC (Numerical Control) tool paths for rough machining. In this paper, a new method of parallel NC tool path generation for subdivision surfaces is presented. The basic idea of the method includes two steps: first, extending G-Buffer to a strip buffer (called S-Buffer) by dividing the working area into strips to generate NC tool paths for objects of large size; second, generating NC tool paths by parallel implementation of S-Buffer based on MPI (Message Passing Interface). Moreover, the recursion depth of the surface can be estimated for a user-specified error tolerance, so we substitute the polyhedral mesh for the limit surface during rough machining. Furthermore, we exploit the locality of S-Buffer and develop a dynamic division and load-balanced strategy to effectively parallelize S-Buffer.