• 대한임베디드공학회논문지
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• 제9권2호
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• pp.101-107
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• 2014

Mobile robots use an environment map of its workspace to complete the surveillance task. However grid-based maps that are commonly used map format for mobile robot navigation use a large size of memory for accurate representation of environment. In this reason, grid-based maps are not suitable for path planning of mobile robots using embedded board. In this paper, we present the path planning algorithm that produce a secure path rapidly. The proposed approach utilizes a hybrid map that uses less memory than grid map and has same efficiency of a topological map. Experimental results show that the fast path planning uses only 1.5% of the time that a grid map based path planning requires. And the results show a secure path for mobile robot.

• 제어로봇시스템학회논문지
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• 제15권2호
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• pp.198-202
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• 2009

Urban Search and Rescue (USAR) involves locating, rescuing (extricating), and medically stabilizing victims trapped in confined spaces. In this paper we state the current approach to USAR, address the limitations and discuss the way for moving in rugged topography. To achieve objectives such as surveillance, reconnaissance, and rescue, it is necessary to develop a driving mechanism that can handle rugged geographical features. We propose a new type of driving mechanism for a rescue robot that has a variable shape single-track. By using a variety shapes, it can get the gain of steering and rotating and the ability to overcome stairs. In this paper, we analyzed the design parameters for making variable transform shapes and determined the specifications of the robot to enhance adaptability to stairs.

• Journal of Information Processing Systems
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• 제8권3호
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• pp.471-482
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• 2012

For disaster exploration and surveillance application, this paper aims to present a novel application of a multi-robot agent based on WSN and to evaluate a multi-hop communication caused by the robotics correspondingly, which are used in the uncertain and unknown subterranean tunnel. A Primary-Scout Multi-Robot System (PS-MRS) was proposed. A chain topology in a subterranean environment was implemented using a trimmed ZigBee2006 protocol stack to build the multi-hop communication network. The ZigBee IC-CC2530 modular circuit was adapted by mounting it on the PS-MRS. A physical experiment based on the strategy of PS-MRS was used in this paper to evaluate the efficiency of multi-hop communication and to realize the delivery of data packets in an unknown and uncertain underground laboratory environment.

• 제어로봇시스템학회논문지
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• 제22권4호
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• pp.281-287
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• 2016

In this paper, we propose a novel compact surveillance throwing robot which has an omnidirectional shock absorption mechanism and an active control part of wheel treads to stabilize the dynamic posture of a miniature sphere type throwing robot. This throwing robot, which weighs 1.14kg and is 110mm in height, is designed in a spherical shape to be easily grabbed for throwing. Also, the omnidirectional shock absorbing aspect is designed using several leaf springs connected with inner and outer wheels. The wheel treads control part consists of a link mechanism. Through the field experiments, this robot is validated to withstand higher than 17Ns of omnidirectional impulse and increase the stabilized max speed three times from 11 rad/s to 33rad/s by increasing wheel treads.

• 한국지능시스템학회논문지
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• 제19권4호
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• pp.532-537
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• 2009

보안이 중요시되는 공간에서 임의의 사람을 추적하고 인식할 수 있는 시스템의 필요성이 점차 중요시 되고 있다. 본 논문에서는 영상과 음원 추적 기반의 임베디드 모바일 로봇을 개발함으로써 무인 지능형 시스템을 구현하였고 영상에서 객체 추적을 위해 블록 매칭 알고리즘을 이용하고 음원 추적을 위해 소리의 시간차와 세기차를 이용하여 시스템을 구현 하였다. 본 논문에서는 Pan-Tilt 카메라와 음원 추적 모듈을 이용한 시스템, Network 카메라와 모바일 로봇을 이용한 시스템과 모바일 로봇을 이용한 시스템을 구현함으로써 침입자 추적 알고리즘을 검증하였다. 각 구현된 시스템에서 문제점을 보완하고 서로 연동이 가능한 시스템을 구현하여 지능형 무인 감시 시스템으로 신뢰성을 더할 수 있을 것이다.

• 한국군사과학기술학회지
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• 제20권5호
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• pp.633-638
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• 2017

The small unmanned robot developed in this paper can perform tasks such as surveillance and reconnaissance in the battle field. The noise generated during the operation of the robot may expose the operation area. Therefore, in this study, we developed a method to quantitatively measure the noise of the developed small unmanned ground robot. The criteria for noise measurement in indoor and outdoor are presented. It was used for statistical verification method to verify the reliability of the developed noise measurement method. The noise was measured at different places, and the correlation was analyzed. Thus, we proposed a method to predict the noise level in the operation area where the robot is operated by the noise test data measured during the development process.

• 제어로봇시스템학회논문지
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• 제17권6호
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• pp.558-565
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• 2011

Various robot platforms have been designed and developed to perform given tasks in a hazardous environment for surveillance, reconnaissance, search and rescue, etc. We considered a terrain-adaptive and transformable hybrid robot platform that is equipped with rapid navigation capability on flat floors and good performance in overcoming stairs or obstacles. The navigation mode transition is determined and implemented by adaptive driving mode control of the mobile robot. In order to maximize the usability of wheel-track hybrid robot platform, we propose a terrain-adaptive and user-friendly remote controller and verify the efficiency and performance through its navigation performance experiments in real and test-bed environments.

• 로봇학회논문지
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• 제5권3호
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• pp.270-277
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• 2010

Various robot platforms have been designed and developed to perform given tasks in a hazardous environment for the purpose of surveillance, reconnaissance, search and rescue, and etc. We have considered a terrain adaptive hybrid robot platform which is equipped with rapid navigation on flat floors and good performance on overcoming stairs or obstacles. Since our special consideration is posed to its flexibility for real application, we devised a design of a transformable robot structure which consists of an ordinary wheeled structure to navigate fast on flat floor and a variable tracked structure to climb stairs effectively. Especially, track arms installed in front side, rear side, and mid side are used for navigation mode transition between flatland navigation and stairs climbing. The mode transition is determined and implemented by adaptive driving mode control of mobile robot. The wheel and track hybrid mobile platform apparatus applied off-road driving mechanism for various professional service robots is verified through experiments for navigation performance in real and test-bed environment.

• 센서학회지
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• 제14권4호
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• pp.278-285
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• 2005

This paper describes techniques of camera calibration and artificial landmarks detection for the automatic charging of a mobile robot, equipped with a fish-eye camera in the direction of its operation for movement or surveillance purposes. For its identification from the surrounding environments, three landmarks employed with infrared LEDs, were installed at the charging station. When the robot reaches a certain point, a signal is sent to the LEDs for activation, which allows the robot to easily detect the landmarks using its vision camera. To eliminate the effects of the outside light interference during the process, a difference image was generated by comparing the two images taken when the LEDs are on and off respectively. A fish-eye lens was used for the vision camera of the robot but the wide-angle lens resulted in a significant image distortion. The radial lens distortion was corrected after linear perspective projection transformation based on the pin-hole model. In the experiment, the designed system showed sensing accuracy of ${\pm}10$ mm in position and ${\pm}1^{\circ}$ in orientation at the distance of 550 mm.

• 제어로봇시스템학회논문지
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• 제18권1호
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• pp.35-41
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• 2012

This paper proposes a moving object detection algorithm for active camera system that can be applied to mobile robot and intelligent surveillance system. Most of moving object detection algorithms based on a stationary camera system. These algorithms used fixed surveillance system that does not consider the motion of the background or robot tracking system that track pre-learned object. Unlike the stationary camera system, the active camera system has a problem that is difficult to extract the moving object due to the error occurred by the movement of camera. In order to overcome this problem, the motion of the camera was compensated by using SURF and Pseudo Perspective model, and then the moving object is extracted efficiently using stochastic Label Cluster transport model. This method is possible to detect moving object because that minimizes effect of the background movement. Our approach proves robust and effective in terms of moving object detection in active camera system.