• 대한전기학회논문지:시스템및제어부문D
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• 제54권5호
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• pp.291-299
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• 2005

An obstacle avoidance algorithm for a network-based autonomous mobile robot is proposed in this paper. The obstacle avoidance algorithm is based on the VFH(Vector Field Histogram) algorithm and two delay compensation methods with the VFH algorithm are proposed for a network-based robot with distributed environmental sensors, mobile actuators, and the VFH controller. Firstly, the environmental sensor information is compensated by prospection with acquired environmental sensor information, measured network delays, and the kinematic model of the robot. The compensated environmental sensor information is used for building polar histogram with the VFH algorithm. Secondly, a sensor fusion algorithm for localization of the robot is proposed to compensate the delay of odometry sensor information and the delay of environmental sensor information. Through some simulation tests, the performance enhancement of the proposed algorithm in the viewpoint of efficient path generation and accurate goal positioning is shown here.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1993년도 한국자동제어학술회의논문집(국내학술편); Seoul National University, Seoul; 20-22 Oct. 1993
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• pp.434-439
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• 1993

This paper present a sensor based obstacle avoidance method which is based on a VFH(Vector Field Histogram) method. The basic idea of obstacle avoidance is to find a minimum obstacle direction and distance. From the minimum sonar index and the target direction high level system determine steering angle of mobile robot. The sonar sensor system consists of 12 ultra sonic sensor, and each sensor have its direction and safety value. This method has advantage on calculation speed and small memory. This method is implemented on indoor autonomous vehicle'ALiVE-2'.

• 대한전기학회:학술대회논문집
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• 대한전기학회 1994년도 추계학술대회 논문집 학회본부
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• pp.345-348
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• 1994

A real-time collision avoidance algorithm for an AMR (Autonomous Mobile Robot) using the Distance Transform and Vector Field Histogram is studied. This approach enables AMR to find a collision-free path with the unknown obstacles. All system parameters including positions of the obstacles can be accepted using a mouse icon and all the obtained trajectories can be displayed on a computer monitor in graphics.

• 한국멀티미디어학회논문지
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• 제17권3호
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• pp.300-311
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• 2014

환경의 변화에 따라 급속도로 변화하는 생태계에 대한 체계적인 연구를 위해 식물의 정보를 수집 분석하기 위한 연구가 활발하게 진행되고 있다. 특히, 스마트 기기의 카메라를 이용하여 언제 어디서나 사용자가 원하는 식물의 종류를 검색할 수 있는 기술에 대한 관심이 증가하고 있다. 본 논문은 식물 인식 및 생태계 분석을 위해 다양한 식물의 잎을 종류별로 분석할 수 있는 방법에 대해 제안한다. 이를 위해, 카메라부터 입력된 식물 잎 사진의 관심 영역을 GrabCut을 통해 배경과 분리한 후, 형태 기술자 추출 방법인 SIFT(Scale-Invariant Feature Transform), HOG(Histogram of Oriented Gradient)를 이용하여 형태 기술자를 추출하고, 이것을 부호화 기법 및 공간 피라미드 방법을 이용한 분류 특징 벡터를 만든다. SVM(Support Vector Machine)을 통한 식물 잎 분류 및 인식한다. 다양한 식물 잎에 대한 실험 결과를 통해 비슷한 색상이나 형태를 가지고 있더라도 방향성 특징 기술자를 활용한 식물 잎 분류 방법이 매우 효율적임을 알 수 있다.

• 제어로봇시스템학회논문지
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• 제16권4호
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• pp.361-367
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• 2010

This paper reports the development of a mobile robot for patrol using a single laser range finder. A Laser range finder is useful for outdoor environment regardless of illumination change or various weather conditions. In this paper we combined the motion control of the mobile robot and the algorithm for detecting the outdoor environment. For obstacle avoidance, we adopted the Vector Field Histogram algorithm. A laser range finder is mounted on the mobile robot and looking down the road with a small tilt angle. We propose an algorithm for detecting the surface of the road. The outdoor patrol robot platform is equipped with a DGPS system, a gyro-compass sensor, and a laser range finder. The proposed obstacle avoidance and road detection algorithms were experimentally tested in success.

• 한국정보처리학회:학술대회논문집
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• 한국정보처리학회 2004년도 추계학술발표논문집(상)
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• pp.855-858
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• 2004

본 논문에서는 원영상 영역내 포함된 우성의 에지에 대한 구체적 정보를 이용하기 위하여 Haar 웨이블릿을 이용한 에지영상 추출한다. 추출된 에지영상에 얼굴영역을 검출하기위해 이진화된 영상에 설정된 임계값을 통하여 얻은 이진영상으로부터 얼굴영역을 검출하기 위하여 얼굴의 일반적인 구조적 정보와 처리시간이 빠른 수평, 수직히스토그램 분석법을 이용하였다. 얼굴영역을 분리한 영상에 얼굴영역의 특징벡터를 구하기 위하여 26개의 특징벡터를 사용한 효율적인 고차 국소 자동 상관함수를 사용하였다. 계산된 특징벡터는 BP 신경망의 학습을 통하여 얼굴인식을 위한 데이터로 사용하여 제안된 알고리즘에 의한 인식률향상과 속도 향상을 입증한다.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2004년도 ICCAS
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• pp.831-833
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• 2004

In this paper, an obstacle avoidance algorithm is proposed for a network-based robot considering network delay by distribution. The proposed algorithm is based on the VFH(Vector Field Histogram) algorithm, and for the network-based robot system, in which it is assumed robot localization information is transmitted through network communication. In this paper, target vector for the VFH algorithm is estimated through the robot localization information and the measurement of its delay by distribution. The delay measurement is performed by time-stamp method. To synchronize all local clocks of the nodes distributed on the network, a global clock synchronization method is adopted. With the delay measurement, the robot localization estimation is performed by calculating the kinematics of the robot. The validation of the proposed algorithm is performed through the performance comparison of the obstacle avoidance between the proposed algorithm and the existing VFH algorithm on the network-based autonomous mobile robot.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2004년도 하계학술대회 논문집 D
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• pp.2435-2437
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• 2004

In this paper, an obstacle avoidance algorithm is proposed for a network-based robot considering network delay by distribution. The proposed algorithm is based on the VFH(Vector Field Histogram) algorithm, and for the network-based robot system, in which it is assumed robot localization information is transmitted through network communication. In this paper, target vector for the VFH algorithm is estimated through the robot localization information and the measurement of its delay by distribution. The delay measurement is performed by time-stamp method. To synchronize all local clocks of the nodes distributed on the network, a global clock synchronization method is adopted. With the delay measurement, the robot localization estimation is performed by calculating the kinematics of the robot. The validation of the proposed algorithm is performed through the performance comparison of the obstacle avoidance between the proposed algorithm and the existing VFH algorithm on the network-based autonomous mobile robot.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2003년도 ICCAS
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• pp.2461-2466
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• 2003

This paper presents a simple sensor fusion algorithm using neural network for navigation of mobile robots with obstacle avoidance and trap recovery. The multiple sensors input sensor data to the input layer of neural network activating the input nodes. The multiple sensors used include optical encoders, ultrasonic sensors, infrared sensors, a magnetic compass sensor, and GPS sensors. The proposed sensor fusion algorithm is combined with the VFH(Vector Field Histogram) algorithm for obstacle avoidance and AGPM(Adaptive Goal Perturbation Method) which sets adaptive virtual goals to escape trap situations. The experiment results show that the proposed low-level fusion algorithm is effective for real-time navigation of mobile robot.

• 제어로봇시스템학회논문지
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• 제12권3호
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• pp.264-268
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• 2006

In this paper, we construct the infrastructure with wireless LAN for the teleoperating system of mobile robots. For the stable teleoperating system, we develope an algorithm that measure communication time delay on real-time. We propose the force-reflected teleoperation method that control the stiffness of joystick according to VFH(Vector Field Histogram). Also, an obstacle avoidance method using VFH is presented for the mobile robot to move to the indicated direction without collision. Experiments are conducted to demonstrate the feasibility of the proposed methods.