• 제어로봇시스템학회:학술대회논문집
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• 2001.10a
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• pp.138.5-138
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• 2001

The autonomous robot has the ability of obstacle avoidance and target tracking with some manufactured information. In this paper, it is shown that autonomous mobile robot can avoid fixed obstacles using the map made before and the fuzzy controller is adopted with the global path planing and the local path planing when the robot navigates. With that map sensor, information will be used when an autonomous robot navigates. This paper proves that robot can navigate through optimized route and keep the stable condition.

• 제어로봇시스템학회:학술대회논문집
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• 2000.10a
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• pp.45-45
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• 2000

This paper proposes a remote control system that combines computer network and an autonomous mobile robot. We control remotely an autonomous mobile robot with vision via the internet to guide it under unknown environments in the real time. The main feature of this system is that local operators need a World Wide Web browser and a computer connected to the internet communication network and so they can command the robot in a remote location through our Home Page. The hardware architecture of this system consists of an autonomous mobile robot, workstation, and local computers. The software architecture of this system includes the server part for communication between user and robot and the client part for the user interface and a robot control system. The server and client parts are developed using Java language which is suitable to internet application and supports multi-platform. Furthermore, this system offers an image compression method using motion JPEG concept which reduces large time delay that occurs in network during image transmission.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 2011.10a
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• pp.165-167
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• 2011

Autonomous robots are intelligent machines that are capable of performing task in the world themselves with little or no human intervention. One of the main reason autonomous robots gained popularity in human's world is their ability to perform task with high degree of precision, accuracy and also consistency. One of the most studied fields in autonomous robot is the ability of decision making in robots. To tackle the ability of robots to make decision, this paper proposed an Autonomous Maze Solving Robot that is able to solve a maze using the optimum solution. The maze and the design of the robot are in compliance with IEEE Micromouse competition rules and regulation. Micromouse is an autonomous maze solving robot that shall be able to explore a maze on its own from a predefined starting location and find the optimum path to reach the predefined goal in the maze without human's intervention.

• 제어로봇시스템학회:학술대회논문집
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• 2004.08a
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• pp.24-27
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• 2004

This paper describes the method how to control an autonomous robot remotely using Internet. The autonomous robot that has an artificial brain is called "Tarou". (1) It is able to move along the line on the floor based on processing the image data obtained from two CCD cameras. (2) It is able to understand dialogs between human being and it and is able to take actions such as turn right and lefts, go forward 1m and go backward 0.5m, etc. (3) It is able to recognize patterns of objects. (4) It is able to recognize human faces. (5) It is able to communicate human being and to speak according to contents written in the program. We show the techniques to control the autonomous robot "Tarou" remotely by personal computer and/or portable Phone via Internet. The techniques developed in our research could dramatically increase their performance for..the need of artificial life robot as the next generation robot and national homeland security needs.

• 제어로봇시스템학회:학술대회논문집
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• 2005.06a
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• pp.2019-2023
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• 2005

In this paper, an autonomous omni directional cleaning robot which recognizes an obstacle and a battery charger is introduced. It utilizes a robot vision, ultra sonic sensors, and infrared sensors information along with appropriate algorithm. Three omni-directional wheels make the robot move any direction, enabling a faster maneuvering than a simple track typed robot. The robot system transfers command and image data through Blue-tooth wireless modules to be operated in a remote place. The robot vision associated with sensor data makes the robot proceed in an autonomous behavior. An autonomous battery charger searching is implemented by using a map-building which results in overcoming the error due to the slip on the wheels, and camera and sensor information.

• Journal of the Institute of Convergence Signal Processing
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• v.4 no.4
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• pp.58-65
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• 2003

This paper studies a steering control method using a neural network algorithm for an intelligent autonomous driving robot. Previous horizontal steering control methods were made by various possible situation on the road. However, it isn't possible to make out algorithms that consider all sudden variances on the road. In this paper, an intelligent steering control algorithm for an autonomous driving robot system is presented. The algorithm is based on Self Organizing Maps(SOM) and the feature points on the road are used as training datum. In a simulation test, it is available to handle a steering control using SOM for an autonomous steering control. The algorithm is evaluated on an autonomous driving robot. The algorithm is available to control a steering for an autonomous driving robot with better performance at the experiments.

• Journal of the Korea Institute of Military Science and Technology
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• v.11 no.6
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• pp.127-134
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• 2008

An autonomous reconnaissance ground robot performs its duty in various different environments such as mountain-scape, desert and under-water through changing its shape and form according to the environment it is working in. Making a prototype robot for each environment requires extra cost and time. It is also difficult to modify the problem after production. In this paper, we propose the adoption of M&S(Modeling & Simulation) environment for the production and design of the autonomous reconnaissance ground robot. The proposed method on the M&S environment contributed to the more effective and less time consuming production of the robot through the Pre-Modeling and Pre-Simulation process. For example, we showed the design and implementation of the autonomous reconnaissance ground robot under the proposed environment and tools.

• Journal of Institute of Control, Robotics and Systems
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• v.10 no.6
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• pp.529-536
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• 2004

Autonomous navigation of an indoor mobile robot using the global ultrasonic system is presented in this paper. Since the trajectory error of the dead-reckoning navigation grows with time and distance, the autonomous navigation of a mobile robot requires to localize the current position of the robot, so that to compensate the trajectory error. The global ultrasonic system consisting of four ultrasonic generators fixed at a priori known positions in the work space and two receivers on the mobile robot has the similar structure with the well-known satellite GPS(Global Positioning System), and it is useful for the self-localization of an indoor mobile robot. The EKF(Extended Kalman Filter) algorithm for the self-localization is proposed and the autonomous navigation based on the self-localization is verified by experiments.

• IEMEK Journal of Embedded Systems and Applications
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• v.18 no.5
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• pp.249-257
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• 2023

This paper discusses the increasing need for autonomous delivery robots due to the current growth in the delivery market, rising delivery fees, high costs of hiring delivery personnel, and the need for contactless services. Additionally, the cost of hardware and complex software systems required to build and operate autonomous delivery robots is high. To provide a low-cost alternative to this, this paper proposes a autonomous delivery robot platform using a low-cost sensor combination of 2D LIDAR, depth camera and tracking camera to replace the existing expensive 3D LIDAR. The proposed robot was developed using the RTAB-Map SLAM open source package for 2D mapping and overcomes the limitations of low-cost sensors by using the convex hull algorithm. The paper details the hardware and software configuration of the robot and presents the results of driving experiments. The proposed platform has significant potential for various industries, including the delivery and other industries.

• Journal of the Korean Society of Industry Convergence
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• v.22 no.2
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• pp.209-218
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• 2019

This study proposes a new approach to Control the Orientation and position based on obstacle avoidance technology by multi sensors fusion and autonomous travelling control of mobile robot system for implimentation of Smart FA. The important focus is to control mobile robot based on by the multiple sensor module for autonomous travelling and obstacle avoidance of proposed mobile robot system, and the multiple sensor module is consit with sonar sensors, psd sensors, color recognition sensors, and position recognition sensors. Especially, it is proposed two points for the real time implementation of autonomous travelling control of mobile robot in limited manufacturing environments. One is on the development of the travelling trajectory control algorithm which obtain accurate and fast in considering any constraints. such as uncertain nonlinear dynamic effects. The other is on the real time implementation of obstacle avoidance and autonomous travelling control of mobile robot based on multiple sensors. The reliability of this study has been illustrated by the computer simulation and experiments for autonomous travelling control and obstacle avoidance.