• 한국통신학회논문지
• /
• 제21권1호
• /
• pp.291-299
• /
• 1996

이 논문에서는 다층 구조 고차 신경회로망을 이용하여 로봇 메니퓰레이터와 같이 관성이 크고 복잡한 특성을 갖는 시스템을 효과적으로 동정화하는 새로운 방법을 제안한다. 로봇 메니퓰레이터의 위치 및 속도와 미리 정해준 기준 점들 사이의 차이를 나타내는 특정 성능 지수 함수를 최소화하는 방법을 이용하여 동정화 과정에 필요한 신경회로망의 학습에 이용되는 입력 데이터를 설계하는 방법을 설명한다. 사람의 팔과 같이 비교적 큰 관성을 갖는 2축 로봇 매니퓰레이터를 이용한 컴퓨터 시뮬레이션으로부터 제안된 방법이 복잡한 특성을 갖는 시스템의 동정화에 필요한 입력 데이터를 효과적으로 설계할 수 있음을 보인다.

• 한국조명전기설비학회지:조명전기설비
• /
• 제5권4호
• /
• pp.15-20
• /
• 1991

본 연구는 공장자동화에 이용되는 산업용 로보트의 분산 적응 제어기법을 고찰한 것이다. 이 제어기법은 매니풀레이터가 원하는 경로를 따라 진행할 때 부하의 변동에 신속히 대응할 수 있도록 함으로서 실시간 제어가 가능하게 하는 것이다. 제어방식은 전체 시스템을 규모가 작은 여러 개의 부시스템으로 분리하고, 각 부시스템을 공칭제어기와 적응제어기로 제어하는 것이다. 이 제안한 기법을 컴퓨터 시뮬레이션한 결과 매니풀레이터 동력학이 비선형이며 부하변동이 있을 때에도 원하는 궤적에 양호하게 추종함을 알 수 있었다.

• 제어로봇시스템학회논문지
• /
• 제11권9호
• /
• pp.789-794
• /
• 2005

This paper describes an algorithm for minimal turning complete coverage Path planning for cleaning robots. This algorithm divides the whole cleaning area by cellular decomposition, and then provides the path planning among the cells employing a flow network. It also provides specific path planning inside each cell guaranteeing the minimal turning of the robots. The minimal turning of the robots is directly related to the faster motion and energy saving. The proposed algorithm is compared with previous approaches in simulation and the result shows the validity of the algorithm.

• 대한전기학회:학술대회논문집
• /
• 대한전기학회 2008년도 심포지엄 논문집 정보 및 제어부문
• /
• pp.77-78
• /
• 2008

This paper proposes a new algorithm for path planning and obstacles avoidance using the ant colony optimization algorithm and the particle swarm optimization. The proposed algorithm is a new hybrid algorithm that composes of the ant colony algorithm method and the particle swarm optimization method. At first, we produce paths of a mobile robot in the static environment. And then, we find midpoints of each path using the Maklink graph. Finally, the hybrid algorithm is adopted to get a shortest path. We prove the performance of the proposed algorithm is better than that of the path planning algorithm using the ant colony optimization only through simulation.

• 제어로봇시스템학회논문지
• /
• 제19권5호
• /
• pp.416-422
• /
• 2013

This paper suggests a hybrid path planning method of multi-robots, where a path deviation prevention for maintaining a specific formation is implemented by using repulsive function, $A^*$ algorithm and UKF (Unscented Kalman Filter). The repulsive function in potential field method is used to avoid collision among robots and obstacles. $A^*$ algorithm helps the robots to find optimal path. In addition, error estimation based on UKF guarantees small path deviation of each robot during navigation. The simulation results show that the swarm robots with designated formation successfully avoid obstacles and return to the assigned formation effectively.

• 대한인간공학회지
• /
• 제6권1호
• /
• pp.25-32
• /
• 1987

The paesent paper deals with obtaining the properly mixed application critaeia for the manual mode, using computer graphic simulation, in order to recover the error effectively occurring in the advanced teleoperator work of man-robot system. In these experiments the error which is occurred during performing the automatic mode is recovered by the manual mode which is combined properly the operation by hyman with the operation by control program. The result shows an improvement availibility of the system by not only establishing an efficient combination of the manual mode according to trajectory planning but also recovering the error effectively. Therefore we suggest that the operation by control program should be applied in macro motion of control and the operation by human in micro motion of control.

• ETRI Journal
• /
• 제42권1호
• /
• pp.108-117
• /
• 2020

This study proposes a robust range-only beacon mapping method for registering the locations of range-only beacons automatically. The proposed method deals with the multipath propagation of signals from range-only beacons using the range-only measurement association (RoMA) and an unscented Kalman filter (UKF). The RoMA initially predicts the candidate positions of a range-only beacon. The location of the range-only beacon is then updated using the UKF. With the proposed method, the locations of range-only beacons are accurately estimated in a multipath environment. The proposed method also provides the location uncertainty of each range-only beacon. Simulation results using the model for multipath propagation and experimental results in a real indoor environment verify the performance of the proposed method.

• 제어로봇시스템학회:학술대회논문집
• /
• 제어로봇시스템학회 1997년도 한국자동제어학술회의논문집; 한국전력공사 서울연수원; 17-18 Oct. 1997
• /
• pp.544-547
• /
• 1997

In this paper, we propose a dynamic localization method using a rotating sonar and a map. The proposed method is implemented by using extended Kalman filter. The state equation is based on the encoder propagation model and the encoder error model, and the measurement equation is a map-based measurement equation using a rotating sonar sensor. By utilizing sonar beam characteristics, map-based measurements are updated while AMR is moving continuously. By modeling and estimating systematic errors of a differential encoder, the position is successfully estimated even the interval of the map-based measurement. Monte-Carlo simulation shows that the proposed global position estimator has the performance of a few millimeter order in position error and of a few tenth degrees in heading error and of compensating systematic errors of the differential encoder well.

• 제어로봇시스템학회:학술대회논문집
• /
• 제어로봇시스템학회 1997년도 한국자동제어학술회의논문집; 한국전력공사 서울연수원; 17-18 Oct. 1997
• /
• pp.1617-1620
• /
• 1997

This paper describes the camera caliberation based-neural network with a camera modeling that accounts for major sources of camera distortion, namely, radial, decentering, and thin prism distortion. Radial distoriton causes an inward or outward displacement of a given image point from its ideal location. Actual optical systems are subject to various degrees of decentering, that is the optical centers of lens elements are not strictly collinear. Thin prism distortion arises from imperfection in lens design and manufacturing as well as camera assembly. It is our purpose to develop the vision system for the pattern recognition and the automatic test of parts and to apply the line of manufacturing. The performance of proposed camera aclibration is illustrated by simulation and experiment.

• 제어로봇시스템학회논문지
• /
• 제9권5호
• /
• pp.384-389
• /
• 2003

We propose a hierarchically structured navigation algorithm for multiple mobile robots under unknown dynamic environment based on fussy-neural algorithm. The proposed algorithm consists of two basic layers. The lower layer consists of two parts such as fuzzy algorithm for goal approach and fuzzy-neural algorithm for obstacle avoidance. The upper layer which is basically fuzzy algorithm adjusts the magnitude of the weighting factor depending on the environmental situation. In addition, The proposed algorithm provides an efficient method to escape local mimimum points as shown in the simulation result. The efficacy of the proposed method is demonstrated via some simulations.