• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 2008.10a
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• pp.157-160
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• 2008

A realization for moving object detecting and tracking system in two dimensional plane using stereo line CCDs and lighting source is presented in this paper. Instead of processing camera images directly, two line CCD sensor and input line image is used to measure two dimensional distance by comparing the brightness on line CCDs. The algorithms are used the moving object tracking and coordinate converting method. To ensure the effective detection of moving path, a detection algorithm to evaluate the reliability of each measured distance is developed. The realized system results are that the performance of moving object recognizing shows 5mm resolution and mean error is 1.89%, and enables to track a moving path of object per 100ms period.

• 제어로봇시스템학회:학술대회논문집
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• 2001.10a
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• pp.109.1-109
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• 2001

This paper deals with the path following problem of car-like intelligent mobile robot. A robust sliding mode control law based on time-varying state feedback is performed via Lyapunov method for path tracking of nonholonomic mobile robot with uncertainties. At first, A sliding control law is designed by combing the natural algebraic structure of the chained form system with ideas from sliding mode theory. Then, a robust control law is proposed to impose robustness against bounded uncertainties in path tracking. The problem of estimating the asymptotic stability region and the sliding domain of uncertain sliding mode system with bounded control input is also discussed. The proposed sliding mode control law can ensure the global reaching condition of the uncertain control system.

• Journal of the Korean Society for Precision Engineering
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• v.26 no.6
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• pp.74-80
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• 2009

Path tracking of unmanned vehicle is a basis of autonomous driving and navigation. For the path tracking, it is very important to find the exact position of a vehicle. GPS is used to get the position of vehicle and a direction sensor and a velocity sensor is used to compensate the position error of GPS. To detect path lines in a road image, the bird's eye view transform is employed, which makes it easy to design a lateral control algorithm simply than from the perspective view of image. Because the driving speed of vehicle should be decreased at a curved lane and crossroads, so we suggest the speed control algorithm used GPS and image data. The control algorithm is simulated and experimented from the basis of expert driver's knowledge data. In the experiments, the results show that bird's eye view transform are good for the steering control and a speed control algorithm also shows a stability in real driving.

• Journal of the Korean Institute of Intelligent Systems
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• v.23 no.1
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• pp.51-56
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• 2013

In order to apply a biped robot in real world, the robot requires a robust walking and a function of localization, path planning and navigation. Recently, localization and path planning using RFID of mobile robot has been studying. However, when the biped robot walks, it has unstability and tends to leave the path. In the paper we propose a method of walking stabilization using FSR(Force Sensing Resistor), Gyro and accelerometer for the real biped robot. Also a path tracking algorithm using RFID sensor attached in robot's foot is proposed based on localization of the robot. The proposed algorithm is verified from walking experiments using real biped robot on uneven terrain and path tracking experiments on the RFID environments.

• Journal of the Korean Society for Precision Engineering
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• v.28 no.11
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• pp.1265-1271
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• 2011

These days the number of aged and disabled people is increasing rapidly. But most of the disabled or the aged who have the ability to work, want to engage in economic activities and solve social restrictions as well as their bad financial conditions. This paper concerns about the tracking control of an electric wheelchair robot for welfare vehicle where the seat and electric wheelchair are separated and electric wheelchair robot must be autonomously controlled without the help of assistant. So the aged or the disabled people can drive welfare vehicle by himself by adopting this system. Therefore the concept of both an autonomous driving of electric wheelchair and path tracking robots is required in this system. Finally we suggested fuzzy controller in order to control the path tracking of electric wheelchair robot and compared the capability of the proposed controller with conventional PID controller.

• Journal of the Korean Society for Marine Environment & Energy
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• v.2 no.1
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• pp.90-101
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• 1999

This paper is concerned with the design of automatic ship maneuvering system including automatic path tracking controller and automatic berthing controller. The optimal control technique is employed to design the automatic path tracking controller, which is based on the linearized equations of ship motion. The numerical example shows that the automatic path tracking controller is capable of tracking the line between way points which are determined by pilot a priori. The decentralized control technique is employed to design the automatic berthing controller. In addition to the automatic path tracking controller, the fuzzy logic controller is used to control the forward speed. The numerical example shows that the automatic berthing controller can be successfully implemented.

• The Journal of Korean Academy of Prosthodontics
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• v.25 no.1
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• pp.253-267
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• 1987

The purpose of this study was to improve limitations and disadvantages of the mechanical pantograph and the Visi-Trainer, and to design the reliable and reproducible device mandibular movement tracking device (MMTD) that is more simple, convenient and save the chair time than the mechanical pantograph and Visi-Trainer. MMTD was consist of head frame, horizontal bar, condylar path tracking stylus holders, anterior path tracking stylus holder, two condylar path plastic recording plates, one anterior path plastic recording plate, toggles and open occlusal clutch. To prove the reliability and reproducibility of MMTD, a five adults were selected and mandibular condylar movement was recorded one time by the mechanical pantographic tracing and MMTD. The border movement recording of the mandibular incisor (frontal, sagittal and horizontal) was also recorded by Visi-Trainer and the MMTD. The obtained results were as follows; 1. The condylar movement path (sagittal, horizontal) of the MMTD was not coincidence with that of mechanical pantograph. 2. Measurements of the angulation which established between working and balancing path records by use of the mechanical pantograph and MMTD, there was no significance. 3. In a view of MMTD's reproducibility, there was revealed almost similar recording pattern. 4. The border movement recording of the mandibular incisor by the MMTD and the Visi-Trainer showed almost same reliability and reproducibility. 5. The subjects were able to his original mandibular movements by use of open occlusal clutch in the MMTD.

• 제어로봇시스템학회:학술대회논문집
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• 1995.10a
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• pp.464-467
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• 1995

Autonomous Mobile Robot(AMR) is a field of study which is under active research along with rapid development of the engineering technology. The main reasons for the high interest in AMR are because of its ability to change work space freely and its capability to replace human being for difficult and dangerous jobs. Also the fact that AMR provides a variety of research fields, such as path planning, navigation algorithm, sensor fusion, image processing, and controller design is part of the reason for its popularity. But relatively few researches are concerned with controller. So in this paper, a control strategy of mobile robot with nonholonomic constraint for tracking ordered discontinuous motion is proposed. The proposed control strategy has been designed as a state feedback shape to allow the AMR to obtain continuous velocity and track the path which is composed of discontinuous motions. In order to design such controller, 3 states have been reduced to 2 states through coordinate projection. These ideas are tested for validity through simulation and simulation result is compared with experiments result.

• Journal of the Korea Institute of Building Construction
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• v.10 no.3
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• pp.65-70
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• 2010

Steel frame construction in high places entails many risk factors. In order to improve the safety and productivity of steel frame construction, a project to develop a robotic tower-crane has been undertaken. As the first step, a real-time lifting-path tracking system is being developed. In a previous study, a laser-based tracking system was proposed. While a laser-based tracking system requires at least three laser sensors to detect the x, y, z coordinates of a lifted steel member, a GPS-based system has an advantage over the laser-based system, in that the x, y, z coordinates of a lifted steel member can be detected by a single GPS sensor. To improve the accuracy, arelative positioning method using two GPS sensors was proposed in a previous study. This paper reports an improved GPS-based lifting-path tracking system of a tower crane based on an integrated RF modem and GPS system. The results showedthat the RF modem could successfully send the identifier information to a server a maximum distance of 1 km away from the lifted steel beam, and the lifting path information of each beam captured by the GPS-based tracking system was successfully saved together. Also, byusing an improved algorithm for the GPS relative positioning method, the deviation was reduced to 0.61 m on average.

• 제어로봇시스템학회:학술대회논문집
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• 1988.10a
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• pp.72-75
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• 1988

Due to the fact that the set point regulation scheme by the variable structure control method concerns only the initial and final locations of a manipulator, many constraints may exist in the application of path tracking with obstracle avoidance. The variable structure parameter should be selected in the trajectory planning step by satisfying the constraints of the travel time and the path deviations This paper presents the selection algorithm of the variable structure parameters with the constraints of the system dynamics and the travel time and the path deviation. This study makes unify the trajectory planning and tracking control using the variable structure control method.