• 제어로봇시스템학회:학술대회논문집
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• 1988.10a
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• pp.142-147
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• 1988

Free-path-type guidance system does not need a hardwired path in the environment so that it gives a mobile robot a flexible path. ln this study to achieve the free-path-type guidance system for a mobile robot which is steered by the differential steering of both drive forewheels, position recognition systems are constructed using odometer system as an internal position sensor. Two odometer systems, a auxiliary wheel odometer and a 2-encoder odometer system are constructed and path following algorithms using these odometer systems are designed and experimented. PID control type is adopted in the path following algorithms.

• The Transactions of the Korean Institute of Electrical Engineers D
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• v.51 no.5
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• pp.182-189
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• 2002

This paper presents a framework of hybrid dynamic control systems for the motion control of wheeled mobile robot systems with nonholonomic constraints. The hybrid control system has the 3-layered hierarchical structure: digital automata for the higher process, mobile robot system for the lower process, and the interface as the interaction process between the continuous dynamics and the discrete dynamics. In the hybrid control architecture of mobile robot, the continuous dynamics of mobile robots are modeled by the switched systems. The abstract model and digital automata for the motion control are developed. In high level, the discrete states are defined by using the sensor-based search windows and the reference motions of a mobile robot in low level are specified in the abstracted motions. The mobile robots can perform both the motion planning and autonomous maneuvering with obstacle avoidance in indoor navigation problem. Simulation and experimental results show that hybrid system approach is an effective method for the autonomous maneuvering in indoor environments

• Journal of the Korea Institute of Information and Communication Engineering
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• v.17 no.1
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• pp.8-14
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• 2013

In this paper, a control system for two wheeled inverted pendulum robot is implemented to have more stable balancing capability than the conventional control system. Fuzzy control structure is chosen for the two wheeled inverted pendulum robot, and fuzzy membership function factors for the control system are obtained for 3 specified weights using a trial-and-error method. Next a neural network is employed to generate fuzzy membership function factors for more stable control performance when the weight is arbitrarily selected. Through some experiments, we find that the proposed fuzzy control system using the neural network is superior to the conventional fuzzy control system.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2004.10a
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• pp.737-741
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• 2004

A mobile robot system is developed which is remotely controlled by a haptic master called ‘PHANTOM’. The mobile robot has 4 ultrasonic sensors and single CCD camera which detects the distance from a mobile robot to obstacles in the environment and sends this information to a haptic master. For more convenient remote control, haptic rendering process is performed like viscosity forces and obstacle avoidance forces. In order to show the effectiveness of the developed system, we experiment that the mobile robot runs through the maze and the time is checked to complete the path of the maze with/without the haptic information. Through this repeated experiments, haptic information proves to be useful for remote control of a mobile robot.

• Proceedings of the IEEK Conference
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• 2003.07d
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• pp.1561-1564
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• 2003

Intelligent Wearable Module is intelligent system that arises when a human is part of the feedback loop of a computational process like a certain control system. Applied system is mobile robot. This paper represents the mobile robot control system remote controlled by Intelligent Wearable Module. So far, owing to the development of 802.l1b technologies, lots of remote control methods through internet have been proposed. To control a mobile robot through internet and guide it under unknown environment. The information about the direction and velocity of the mobile robot feedbacks to the PDA and the PDA send new control method produced from the combination of Neuro and Hierarchical Fuzzy Algorithm

• Proceedings of the KIEE Conference
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• 2006.07d
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• pp.1860-1861
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• 2006

In this paper, we design a robust controller of biped robot system with uncertainties, using recurrent neural network. In our proposed control system, we use the self-recurrent wavelet neural network (SRWNN). The SRWNN makes up for the weak points in wavelet neural network(WNN). While the WNN has fast convergence ability, it dose not have a memory. So the WNN cannot confront unexpected change of the system. However, the SRWNN, having advantage of WNN such as fast convergence, can easily encounter the unexpected change of the system. For stable walking control of biped robot, we use sliding mode control (SMC). Here, uncertainties are predicted by SRWNN. The weights of SRWNN are trained by adaptive laws based on Lyapunov stability theorem. Finally, we carry out computer simulations with a biped robot model to verify the effectiveness of the proposed control system,.

• Journal of the Korean Society for Precision Engineering
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• v.20 no.9
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• pp.77-83
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• 2003

In this paper, a robust controller is proposed to control a robot manipulator which is governed by highly nonlinear dynamic equations. The controller is computationally efficient since it does not require the dynamic model or parameter values of a robot manipulator. It, however, requires uncertainty bounds which are derived by using properties of revolute joint robot dynamics. The stability of the robot with the controller is proved by Lyapunov theory. The results of computer simulations show that the robot system is stable, and has excellent trajectory tracking performance.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2002.10a
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• pp.435-438
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• 2002

In this paper, a robust controller is proposed to control a robot manipulator which is governed by highly nonlinear dynamic equations. The controller is computationally efficient since it does not require the dynamic model or parameter values of a robot manipulator. It, however, requires uncertainty bounds which are derived by using properties of serial link robot dynamics. The stability of the robot with the controller is proved by Lyapunov theory. The results of computer simulations show that the robot system is stable, and has excellent trajectory tracking performance.

• 제어로봇시스템학회:학술대회논문집
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• 1997.10a
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• pp.124-127
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• 1997

In this paper, we propose a method of cooperative control based on immune system in distributed autonomous robotic system(DARS). Immune system is living body's self-protection and self-maintenance system. Thus these features can be applied to decision making of optimal swarm behavior in dynamically changing environment. For the purpose of applying immune system to DARS, a robot is regarded as a B lymphocyte(B cell), each environmental condition as an antigen, and a behavior strategy as an antibody respectively. The executing process of proposed method is as follows. When the environmental condition changes, a robot selects an appropriate behavior strategy. And its behavior strategy is simulated and suppressed by other robot using communication. Finally much simulated strategy is adopted as a swarm behavior strategy. This control scheme is based on clonal selection and idiotopic network hypothesis. And it is used for decision making of optimal swarm strategy.

• Proceedings of the KIEE Conference
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• 2004.11c
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• pp.206-208
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• 2004

A new method to control a remote robot with PDA and wireless network is presented. The needs of remote control systems using a home network environments are increased in these days. To solve the shortage of IP address in network, authorized TCP/IP and unauthorized TCP/IP address are used. The unauthorized TCP/IP is obtained by using MAC Address in the system and Network Layer. The model in the system is similar to Sever&Client in structure. Using this system, it is very easy to combine one network device with other network system. A robot system and PDA are used to show the effectiveness of the control system in home network environments.