• 한국정보통신학회논문지
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• 제25권3호
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• pp.377-383
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• 2021

최근 4차 산업혁명에 따라 공장, 물류창고, 서비스영역에서 유연한 물류이송을 위한 자율 이동형 모바일 로봇의 사용이 증가하고 있다. 대규모 공장에서는 Simultaneous Localization and Mapping(SLAM)을 수행하기 위하여 많은 수작업이 필요하기 때문에 개선된 모바일 로봇 자율 주행에 대한 필요성이 대두되고 있다. 이에 따라 본 논문에서는 고정 및 이동 장애물을 피해 최적의 경로로 주행하는 Mapless Navigation에 대한 알고리즘을 제안하고자 한다. Mapless Navigation을 위하여 Deep Q Network(DQN)을 통해 고정 및 이동 장애물을 회피하도록 학습하였고 두 종류의 장애물 회피에 대하여 각각 정확도 90%, 93%를 얻었다. 또한 DQN은 많은 학습 시간을 필요로 하는데 이를 단축하기 위한 목표의 크기 변화 알고리즘을 제안하고 이를 시뮬레이션을 통하여 단축된 학습시간과 장애물 회피 성능을 확인하였다.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2005년도 ICCAS
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• pp.1797-1801
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• 2005

SLAM(Simultaneous localization and mapping) and AI(Artificial intelligence) have been active research areas in robotics for two decades. In particular, localization is one of the most important issues in mobile robot research. Until now expensive sensors like a laser sensor have been used for the mobile robot's localization. Currently, as the RFID reader devices like antennas and RFID tags become increasingly smaller and cheaper, the proliferation of RFID technology is advancing rapidly. So, in this paper, the smart floor using passive RFID tags is proposed and, passive RFID tags are mainly used to identify the mobile robot's location on the smart floor. We discuss a number of challenges related to this approach, such as RFID tag distribution (density and structure), typing and clustering. In the smart floor using RFID tags, because the reader just can senses whether a RFID tag is in its sensing area, the localization error occurs as much as the sensing area of the RFID reader. And, until now, there is no study to estimate the pose of mobile robot using RFID tags. So, in this paper, two algorithms are suggested to. We use the Markov localization algorithm to reduce the location(X,Y) error and the Kalman Filter algorithm to estimate the pose(q) of a mobile robot. We applied these algorithms in our experiment with our personal robot CMR-P3. And we show the possibility of our probability approach using the cheap sensors like odometers and RFID tags for the mobile robot's localization on the smart floor.

• 제어로봇시스템학회논문지
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• 제21권10호
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• pp.936-943
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• 2015

This paper presents arc/line segments-based Simultaneous Localization and Mapping (SLAM) by updating accumulated laser sensor data with a mobile robot moving in an unknown environment. For each scan, the sensor data in the set are stored by a small constant number of parameters that can recover the necessary information contained in the raw data of the group. The arc and line segments are then extracted according to different limit values, but based on the same parameters. If two segments, whether they are homogenous features or not, from two scans are matched successfully, the new segment is extracted from the union set with combined data information obtained by means of summing the equivalent parameters of these two sets, not combining the features directly. The covariance matrixes of the segments are also updated and calculated synchronously employing the same parameters. The experiment results obtained in an irregular indoor environment show the good performance of the proposed method.

• 로봇학회논문지
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• 제7권1호
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• pp.29-34
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• 2012

This paper suggests a new observation model for Extended Kalman Filter based Simultaneous Localization and Mapping (EKF-SLAM). Since the EKF framework linearizes non-linear functions around the current estimate, the conventional line model has large linearization errors when a mobile robot locates faraway from its initial position. On the other hand, the model that we propose yields less linearization error with respect to the landmark position and thus suitable in a large-scale environment. To achieve it, we build up a three-dimensional space by adding a virtual axis to the robot's two-dimensional coordinate system and extract a plane by using a detected line on the two-dimensional space and the virtual axis. Since Jacobian matrix with respect to the landmark position has small value, we can estimate the position of landmarks better than the conventional line model. The simulation results verify that the new model yields less linearization errors than the conventional line model.

• 한국컴퓨터정보학회:학술대회논문집
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• 한국컴퓨터정보학회 2022년도 제65차 동계학술대회논문집 30권1호
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• pp.321-322
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• 2022

본 논문에서는 ROS(Robot Operating System) 기반으로 한 로봇(Robot)에 레이저 거리 센서(LiDAR)를 설치하여 SLAM(Simultaneous Localization And Mapping) 기법으로 지도 정보를 습득 및 저장하고, 이를 기반으로 맵핑된 환경과 환경 내 장애물을 회피하여 안전하고 정확하게 이동할 수 있도록 하였다. ROS는 하드웨어 추상화, 장치 드라이버, 시각화 도구, 패키지 관리 등 로봇 애플리케이션을 개발할 수 있도록 라이브러리와 도구를 제공한다. 또한 로봇 동작에 사용되는 프로세스 간 TCP-IP 통신을 통해 연동할 수 있도록 한다[1]. Ubuntu 18.04 버전의 OS에 ROS Melodic 버전을 설치해서 앱으로 선택된 목적지로 이동하는 물류 이송 로봇을 구현하였다.

• 한국컴퓨터정보학회:학술대회논문집
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• 한국컴퓨터정보학회 2022년도 제66차 하계학술대회논문집 30권2호
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• pp.481-482
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• 2022

본 논문에서는 손동작으로 제어 가능한 운송 로봇을 제안한다. 제안한 시스템에서 로봇은 MediaPipe를 이용하여 실시간으로 사람의 손동작을 인식한다. 또한, 동시적 위치 추적 지도 작성 기법인 SLAM(Simultaneous Localization and Mapping) 기술을 이용하여 로봇이 실내 공간에서 길을 찾고 자율적으로 이동할 수 있게 한다. 개발된 로봇실험을 통하여 로봇이 실시간으로 손동작을 인식하고 동작을 제어하는 것을 확인하였다. 또한, 사전에 작성된 지도를 바탕으로 실내에서 로봇이 자율주행을 하는 것을 확인하였다.

• 제어로봇시스템학회논문지
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• 제22권3호
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• pp.210-216
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• 2016

This paper presents a novel collision avoidance technique for mobile robots based on omni-directional vision simultaneous localization and mapping (SLAM). This method estimates the avoidance path and speed of a robot from the location of an obstacle, which can be detected using the Lucas-Kanade Optical Flow in images obtained through fish-eye cameras mounted on the robots. The conventional methods suggest avoidance paths by constructing an arbitrary force field around the obstacle found in the complete map obtained through the SLAM. Robots can also avoid obstacles by using the speed command based on the robot modeling and curved movement path of the robot. The recent research has been improved by optimizing the algorithm for the actual robot. However, research related to a robot using omni-directional vision SLAM to acquire around information at once has been comparatively less studied. The robot with the proposed algorithm avoids obstacles according to the estimated avoidance path based on the map obtained through an omni-directional vision SLAM using a fisheye image, and returns to the original path. In particular, it avoids the obstacles with various speed and direction using acceleration components based on motion information obtained by analyzing around the obstacles. The experimental results confirm the reliability of an avoidance algorithm through comparison between position obtained by the proposed algorithm and the real position collected while avoiding the obstacles.

• 드라이브 ㆍ 컨트롤
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• 제19권4호
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• pp.97-103
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• 2022

Low fertility rates and increased life expectancy further exacerbate the process of an aging society. This is also reflected in the gradual increase in the proportion of vulnerable groups in the social population. The demand for improved mobility among vulnerable groups such as the elderly or the disabled has greatly driven the growth of the electric-assisted mobility device market. However, such mobile devices generally require a certain operating capability, which limits the range of vulnerable groups who can use the device and increases the cost of learning. Therefore, autonomous driving technology needs to be introduced to make mobility easier for a wider range of vulnerable groups to meet their needs of work and leisure in different environments. This study uses mini PC Odyssey, Velodyne Lidar VLP-16, electronic device and Linux-based ROS program to realize the functions of working environment recognition, simultaneous localization, map generation and navigation of electric powered mobile devices for vulnerable groups. This autonomous driving mobility device is expected to be of great help to the vulnerable who lack the immediate response in dangerous situations.

• 항공우주시스템공학회지
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• 제14권2호
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• pp.1-11
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• 2020

Detecting obstacles and generating a suitable path to avoid obstacles in real time is a prime mission requirement for UAVs. In areas, close to buildings and people, detecting obstacles in the path and estimating its own position (egomotion) in GPS degraded/denied environments are usually addressed with vision-based Simultaneous Localization and Mapping (SLAM) techniques. This presents possibilities and challenges for the feasible path generation with constraints of vehicle dynamics in the configuration space. In this paper, a near real-time feasible path is shown to be generated in the ORB-SLAM framework using a chain-based path planning approach in a force field with dynamic constraints on path length and minimum turn radius. The chain-based path plan approach generates a set of nodes which moves in a force field that permits modifications of path rapidly in real time as the reward function changes. This is different from the usual approach of generating potentials in the entire search space around UAV, instead a set of connected waypoints in a simulated chain. The popular ORB-SLAM, suited for real time approach is used for building the map of the environment and UAV position and the UAV path is then generated continuously in the shortest time to navigate to the goal position. The principal contribution are (a) Chain-based path planning approach with built in obstacle avoidance in conjunction with ORB-SLAM for the first time, (b) Generation of path with minimum overheads and (c) Implementation in near real time.

• 제어로봇시스템학회논문지
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• 제22권10호
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• pp.833-838
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• 2016

This paper presents a performance evaluation of various feature-initialization algorithms for forward-viewing mono-camera based simultaneous localization and mapping (SLAM), specifically in indoor environments. For mono-camera based SLAM, the position of feature points cannot be known from a single view; therefore, it should be estimated from a feature initialization method using multiple viewpoint measurements. The accuracy of the feature initialization method directly affects the accuracy of the SLAM system. In this study, four different feature initialization algorithms are evaluated in simulations, including linear triangulation; depth parameterized, linear triangulation; weighted nearest point triangulation; and particle filter based depth estimation algorithms. In the simulation, the virtual feature positions are estimated when the virtual robot, containing a virtual forward-viewing mono-camera, moves forward. The results show that the linear triangulation method provides the best results in terms of feature-position estimation accuracy and computational speed.