• 제어로봇시스템학회논문지
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• 제10권9호
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• pp.809-815
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• 2004

Researches on mobile robots have been mainly focused on the autonomous navigation and a lot of interesting results have been published so far. Most of applications are, however, fancy, unpractical, and very expensive to be used for 'UN-expensive' purpose. Well-known soccer robot may be an example of unpractical application. Un-autonomous mobile robot has, however, potential for a lot of practical applications. Especially, tele-operation of the un-autonomous mobile robot may the central issue of research. Major research topics for the tele-operated un-autonomous mobile robot include development of a force reflecting joystick for tele-operation and development of a sophisticated algorithm for smooth tele-operation. A new concept named fuzzy command smoothing algorithm is proposed in this paper in order to provide smooth motion to a tele-operated mobile robot. It gives smooth motion command to the mobile robot from possibly abrupt quick turn motion command of the joystick using fuzzy logic. Simulation results verify the usefulness of the proposed algorithm.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2001년도 ICCAS
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• pp.134.6-134
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• 2001

The purpose of navigation algorithm is to reach a given target point without collision with obstacles while an autonomous mobile robot is navigating. To achieve a safe navigation, this paper presents an effective navigation algorithm for the autonomous mobile robot equipped with ultrasonic sensors in unknown environments. The proposed navigation algorithm consists of an obstacle-avoidance behavior, a target-reaching behavior and a fuzzy-based decision maker. In the obstacle-avoidance behavior and the target-reaching behavior, artificial immune networks are used to select a proper steering angle, make the autonomous mobile robot avoid obstacles and approach a given target point. The decision maker using fuzzy inference systems weights the steering angles selected ...

• 한국지능시스템학회논문지
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• 제11권6호
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• pp.470-476
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• 2001

본 논문에서는 미지의 환경에서 동작하는 비전 시스템을 갖는 이동로봇의 경로 계획과 장애물 회피를 위한 새로운 알고리즘을 제안하고자 한다. 목표점에 도달하기 위한 경로계획과 장애물회피를 위해 거리 변화율 기법을 적용하였으며, 소벨연산자를 이용하여 장애물의 윤곽을 추출하였다. 이동로봇의 자율성을 향상시키기 위해 경로 설정과 장애물 회피에 퍼지 규직을 사용하였다. 본 논문에서 제안된 알고리즘을 컴퓨터시뮬레이션을 통해 기존의 벡터장 기법을 이용한것보다 우수하다는것을 알수 있었다. 또한 실효성을 실제로 알아보기 위해 소형 이동로봇을 제작하였으며, 제안된 알고리즘을 탑재하여 실험한 결과 복잡한 주변환경하에서도 좋은 성능을 발휘함을 확인할수 있었다.

• International Journal of Control, Automation, and Systems
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• 제1권1호
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• pp.134-141
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• 2003

A major research issue associated with service robots is the creation of an environment recognition system for mobile robot navigation that is robust and efficient on various environment situations. In recent years, intelligent autonomous mobile robots have received much attention as the types of service robots for serving people and industrial robots for replacing human. To help people, robots must be able to sense and recognize three dimensional space where they live or work. In this paper, we propose a three dimensional environmental modeling method based on an edge enhancement technique using a planar fitting method and a neural network technique called "Growing Neural Gas Network." Input data pre-processing provides probabilistic density to the input data of the neural network, and the neural network generates a graphical structure that reflects the topology of the input space. Using these methods, robot's surroundings are autonomously clustered into isolated objects and modeled as polygon patches with the user-selected resolution. Through a series of simulations and experiments, the proposed method is tested to recognize the environments surrounding the robot. From the experimental results, the usefulness and robustness of the proposed method are investigated and discussed in detail.in detail.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2001년도 ICCAS
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• pp.147.1-147
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• 2001

Future robots, especially service and personal robots, will need much more intelligence, robustness and user-friendliness. The ability to learn contributes to these characteristics and is, therefore, becoming more and more important. Three of the numerous varieties of learning are discussed together with results of real-world experiments with three autonomous robots: (1) the acquisition of map knowledge by a mobile robot, allowing it to navigate in a network of corridors, (2) the acquisition of motion control knowledge by a calibration-free manipulator, allowing it to gain task-related experience and improve its manipulation skills while it is working, and (3) the ability to learn how to perform service tasks ...

• Advances in robotics research
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• 제2권1호
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• pp.59-68
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• 2018

Autonomous mobile service medical robots (AMSMRs) are one of the promising developments in contemporary medical robotics. In this study, we consider the essential technical and intellectual abilities needed by AMSMRs. Based on expert analysis of the behavior exhibited by AMSMRs in clinics under basic scenarios, these robots can be classified as intellectual dynamic systems acting according to a situation in a multi-object and multi-agent environment. An AMSMR should identify different objects that define the presented territory (rooms and paths), different objects between and inside rooms (doors, tables, and beds, among others), and other robots. They should also identify the means for interacting with these objects, people and their speech, different information for communication, and small objects for transportation. These are included in the minimum set required to form the internal world model in an AMSMR. Recognizing door handles and opening doors are some of the most difficult problems for contemporary AMSMRs. The ability to recognize the meaning of human speech and actions and to assist them effectively are other problems that need solutions. These unresolved issues indicate that AMSMRs will need to pass through some learning and training programs before starting real work in hospitals.

• 한국지능시스템학회논문지
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• 제16권4호
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• pp.454-459
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• 2006

자율이동로봇에 관한 연구, 개발이 활성화되고 있다. 본 논문에서는 목표물 추적 및 목표물 명중을 위해 사격을 할 수 있는 자율이동로봇의 설계 및 제작에 관하여 기술한다. 여기서는 목표물의 이동을 추적할 수 있도록 팬-틸트(pan-tilt)를 제어한다. USB 웹캠(web cam) 영상에서 대상체의 특정을 추출하고, 추출한 특징으로부터 시각구동장치의 이동 위치 및 방향을 결정하기 위한 퍼지논리시스템을 설계한다. 시뮬레이션을 통해 제안한 방법의 유용성을 검증하고, 이를 실제 자율이동로봇의 시각구동장치에 적용하여 타당성을 입증한다.

• 한국산업융합학회 논문집
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• 제21권6호
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• pp.379-388
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• 2018

In this study, we propose a new approach to impliment autonomous travelling of mobile robot based on obstacle avoidance and voice command. Obstacle Avoidance technology of mobile robpot. It has been used in wide range of different robotics areas to minimize the risk of collisions. Obstacle avoidance of mobile robots are mostly applied in transportation systems such as aircraft traffic control, autonomous cars etc. Collision avoidance is a important requirement in mobile robot systems where they all featured some kind of obstacle detection techniques in order to avoid colliding. In this paper it was illustrated the reliability of voice command and obstacle avoidance for autonomous travelling of mobile robot with two wheels as the purpose of application to the manufacturing process by simulation and experiments.

• 한국지능시스템학회:학술대회논문집
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• 한국퍼지및지능시스템학회 1998년도 The Third Asian Fuzzy Systems Symposium
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• pp.601-606
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• 1998

In this paper, we propose a new design method of an optimal fuzzy logic controller using co-evolutionary concept. In general, it is very difficult to find optimal fuzzy rules by experience when the input and/or output variables are going to increase. Futhermore proper fuzzy partitioning is not deterministic ad there is no unique solution. So we propose a co-evolutionary method finding optimal fuzzy rules and proper fuzzy membership functions at the same time. Predator-Prey co-evolution and symbiotic co-evolution algorithms, typical approaching methods to co-evolution, are reviewed, and dynamic fitness landscape associated with co-evolution is explained. Our algorithm is that after constructing two population groups made up of rule base and membership function, by co-evolving these two populations, we find optimal fuzzy logic controller. By applying the propose method to a path planning problem of autonomous mobile robots when moving objects applying the proposed method to a pa h planning problem of autonomous mobile robots when moving objects exist, we show the validity of the proposed method.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1996년도 한국자동제어학술회의논문집(국내학술편); 포항공과대학교, 포항; 24-26 Oct. 1996
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• pp.944-947
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• 1996

Realization of autonomous agents that organize their own internal structure in order to behave adequately with respect to their goals and the world is the ultimate goal of AI and Robotics. Reinforcement learning gas recently been receiving increased attention as a method for robot learning with little or no a priori knowledge and higher capability of reactive and adaptive behaviors. In this paper, we present a method of reinforcement learning by which a multi robots learn to move to goal. The results of computer simulations are given.