• International Journal of Aeronautical and Space Sciences
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• 제8권2호
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• pp.107-120
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• 2007

Coordination of multiple UAVs is an essential technology for various applications in robotics, automation, and artificial intelligence. In general, it includes 1) waypoints assignment and 2) trajectory generation. In this paper, we propose a new method for this problem. First, we modify the concept of the standard visibility graph to greatly improve the optimality of the generated trajectories and reduce the computational complexity. Second, we propose an efficient stochastic approach using simulated annealing that assigns waypoints to each UAV from the constructed visibility graph. Third, we describe a method to detect collision between two UAVs. FinallY, we suggest an efficient method of controlling the velocity of UAVs using A* algorithm in order to avoid inter-UAV collision. We present simulation results from various environments that verify the effectiveness of our approach.

• 제어로봇시스템학회지
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• 제1권1호
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• pp.16-16
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• 1995

Like the usual systems, the industrial robot manipulator has some constraints for motion. Usually we hope that the manipulators move fast to accomplish the given task. The problem can be formulated as the time-optimal control problem under the constraints such as the limits of velocity, acceleration and jerk. But it is very difficult to obtain the exact solution of the time-optimal control problem. This paper solves this problem in two steps. In the first step, we find the minimum time trajectories by optimizing cubic polynomial joint trajectories under the physical constraints using the modified evolution strategy. In the second step, the controller is optimized for robot manipulator to track precisely the optimized trajectory found in the previous step. Experimental results for SCARA type manipulator show that the proposed method is very useful.

• Transactions on Control, Automation and Systems Engineering
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• 제1권1호
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• pp.16-20
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• 1999

Like the usual systems, the industrial robot manipulator has some constraints for motion. Usually we hope that the manipulators move fast to accomplish the given task. The problem can be formulated as the time-optimal control problem under the constraints such as the limits of velocity, acceleration and jerk. But it is very difficult to obtain the exact solution of the time-optimal control problem. This paper solves this problem in two steps. In the first step, we find the minimum time trajectories by optimizing cubic polynomial joint trajectories under the physical constraints using the modified evolution strategy. In the second step, the controller is optimized for robot manipulator to track precisely the optimized trajectory found in the previous step. Experimental results for SCARA type manipulator show that the proposed method is very useful.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1989년도 한국자동제어학술회의논문집; Seoul, Korea; 27-28 Oct. 1989
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• pp.649-652
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• 1989

In this paper we outline an approach for the collision-free trajectory planning of two robot arms which are modeled as connected line segments. A new approach to determine the collision between two robot arms and the boundary of the collision region in the coordination space is proposed. The coordination curve may then be chosen to avoid the collision region. For minimum time trajectory, time is assigned to this curve by dynamic time scaling under constraints such as maximum torque or maximum angular velocity of each actuator. A comparison of the proposed method and the graphical method of determining the collision region is also included. Finally, as an example, some simulation results for two SCARA type robots are presented.

• 대한기계학회논문집
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• 제15권5호
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• pp.1495-1502
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• 1991

본 연구에서는 동일 작업 공간내에서 두대의 로봇이 각각의 토크의 제한 조건 과 충돌 회피 조건을 만족하면서 근사 최소 시간에 지정된 경로를 주행하기 위한 궤적 계획법을 제안하고자 한다. 이때, 동작 우선도에 의하여 한 대의 로봇은 주 로봇, 다른 한 대의 로봇은 종 로봇으로 지정되는데 주 로봇은 입력 토크의 제한조건을 만족 하며 주어진 경로를 최소 시간에 움직이도록 궤적 계획을 하였으며, 종 로봇은 주 로 봇과의 충돌을 피하고 입력 토크의 제한 조건을 만족하며 주어진 경로를 근사 최소 시 간에 움직이도록 하였다.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1992년도 한국자동제어학술회의논문집(국내학술편); KOEX, Seoul; 19-21 Oct. 1992
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• pp.387-392
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• 1992

This paper presents a local trajectory generation method which is based on a sequence of reference posture-velocities and the efficient low level control algorithm which constructs the complete smooth curve from the trajectory specification. The reference trajectory generator(RTG) which is in between the local path planner(LPP) and the robot motion controller(RMC) generates a sequence of set-points for each path segments from the LPP and pass it to the RMC. The RMC controls the motions of vehicle which should follow the sequence. In the feedback controller of VMC, the method which compensates robot posture-velocity error correctly is used. These methods are implemented on indoor autonomous vehicle, 'ALIVE' mobile robot. The ALIVE mobile robot system is implemented on the 32bit VME bus system: the two VME CPU's are used for RTG and RMC, while the 80C196KC-based VME board is used for motor controller.

• 대한기계학회논문집A
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• 제27권11호
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• pp.1831-1839
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• 2003

This paper deals with design and control of passive multiple trailer systems fer practical applications. Due to cost and complexity of trailer mechanism, passive systems are preferred to active systems in this research. The control objective is to minimize trajectory tracking errors of passive multiple trailers. Three types of passive trailer systems-direct-hooked, three-point, and off-hooked- are discussed in this paper. Trajectory tracking performance and stability issues under constant velocity motion are carried out for three types. Various simulations and experiments have been also performed for these three types. It is shown that the proposed off-hooked trailer system produces better tracking performance than the other types.

• International Journal of Aeronautical and Space Sciences
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• 제7권1호
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• pp.118-128
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• 2006

This paper deals with auto-landing guidance system design applicable to Smart UAV(Unmanned Aerial Vehicle). The proposed guidance law generates horizontal position, velocity and altitude commands in the longitudinal channel and heading angle command in the lateral channel to track a predetermined trajectory for automatic landing. The longitudinal guidance commands are derived from an approximated dynamic equations in vertical plane. These longitudinal guidance commands are appropriately distributed to each control input as the flight mode of Smart UAV is changed. The concept of VOR(VHF Omni-directional Range) guidance system is applied to generate the required heading angle commands to eliminate the lateral deviation from the desired trajectory. The performance of the proposed guidance system for Smart UAV is evaluated using the nonlinear simulation. Simulation results show that the proposed guidance system for auto- landing provides good tracking performance along the predetermined landing trajectory.

• 대한전기학회논문지:시스템및제어부문D
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• 제50권3호
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• pp.143-148
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• 2001

A lot of robot trajectory tracking methods are proposed to enhance the tracking error, but irregular tracking errors are always accompanied and very hard to reduce it. Up to now, these irregular tracking errors are reduced by introducing more complicated control algorithms. But, it is intuitively obvious to reduce only the big errors selectively in the irregular ones for the better performance instead of using more complicated control algorithms. By the characteristics of the robot, big tracking errors of the end-effector are generated mostly due to the fast moving of joint. So, in this paper, we introduce a new method which reduce the big tracking errors by clippings the joint velocity with the constraint of given path. Using this method, desired trajectory tracking is obtained within the far reduced error bound. Also, this method is successfully applied to generate the path-constrained error reducing trajectories for 2-axis SCARA type robot.

• 대한토목학회논문집
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• 제7권1호
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• pp.11-22
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• 1987

흐름수역(水域)에서 연직상향으로 방류되는 평면부력(平面浮力)?의 거동이 연속방정식(連續方程式), 운동량방정식(運動量方程式) 및 추적물수송식(追跡物輸送式)의 기본방정식을 수치적(數値的)으로 풀음으로서 해석(解析)된다. 난류확산(亂流擴散)에는 Prandtl의 혼합거리이론(混合距離理論)을 도입한 난류수송모형(亂流輸送模型)이 이용된다. 수치해과정(數値解過程)은 기본방정식을 유함수(流凾數)(stream function)식(式)과 골도수송(滑度輸送)(vorticity transport)식을(式) 이용하여 변환(變換)한 후, ?방류속도(放流速度), ?방류구폭(放流口幅) 등(等)으로 표현되는 변수(變數)와 흐름을 지배(支配)하는 무차원매개변수(無次元媒介變數)를 도입하여 무차원화(無次元化)하고 successive under-relaxation을 이용하여 Gauss-Seidal 반복법(反復法)으로 해를(解) 구(求)하는 것이다. 수치실험(數値實驗)은 방류(放流)Froude수(數)가 4~32, 방류속도(放流速度)와 가로흐름속도와의 비로(比) 정의되는 속도비가 8~15 의 범위의 흐름영역(領域)에서 수행되었다. 부력(浮力)?으로 인한 주변(周邊)흐름수역(水域)의 속도변화(速度變化), 온도상승(溫度上昇)범위, 흐름상태 및 골도(滑度)가 조사되었으며, ?의 경로에 대한 속도비와 방류밀도Froude 수의 영향이 또한 조사되었다. ?중심선의 속도, 온도변화, 국부밀도(局部密度)Froude 수(數)의 변화가 계산되며 퍼짐율(spreading rate)과 확산비(擴散比)(dispersion ratio)가 방류밀도(放流密度)Froude 수, 국부밀도(局部密度)Froude 수(數) 및 속도비(速度比)의 항(項)으로 해석되었다. 또한 속도와 온도분포를 상사(相似)(similarity)로 나타낼 수 있음이 밝혀졌으며, Gaussian 분포(分布)를 이용한 적분형해석(積分型解析)(integral type analysis)이 가능한 것으로 사료된다.