• 제어로봇시스템학회:학술대회논문집
• /
• 2004.08a
• /
• pp.831-833
• /
• 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.

• Journal of Institute of Control, Robotics and Systems
• /
• v.11 no.12
• /
• pp.1068-1076
• /
• 2005

In order to increase the autonomous navigation capability of a mobile robot, it is very crucial to develop a method for the robot to be able to recognize a priori hon structured environmental characteristics. This paper proposes an ultrasonic sensor based real-time method for recognizing a priori known structured indoor environmental characteristics like a wall and comer Unlike the methods reported in the literature the information obtained from the sensor can be processed in real-time by extended Kalman filter to update estimations of the position and orientation of robot with respect to known environmental characteristics.

• International Journal of Control, Automation, and Systems
• /
• v.5 no.3
• /
• pp.251-268
• /
• 2007

A Gaussian sum filter (GSF) is proposed in this paper on simultaneous localization and mapping (SLAM) for mobile robot navigation. In particular, the SLAM problem is tackled here for cases when only bearing measurements are available. Within the stochastic mapping framework using an extended Kalman filter (EKF), a Gaussian probability density function (pdf) is assumed to describe the range-and-bearing sensor noise. In the case of a bearing-only sensor, a sum of weighted Gaussians is used to represent the non-Gaussian robot-landmark range uncertainty, resulting in a bank of EKFs for estimation of the robot and landmark locations. In our approach, the Gaussian parameters are designed on the basis of minimizing the representation error. The computational complexity of the GSF is reduced by applying the sequential probability ratio test (SPRT) to remove under-performing EKFs. Extensive experimental results are included to demonstrate the effectiveness and efficiency of the proposed techniques.

• The Transactions of the Korean Institute of Electrical Engineers D
• /
• v.54 no.6
• /
• pp.366-371
• /
• 2005

For an autonomous mobile robot localization, it is very important for the robot to be able to recognize indoor environment and match a detected object to an object defined within a map developed either online or of offline. Given the map defining the locations of geometric beacons like wall and corner existing in the robot operation environment, this paper presents a stereo ultrasonic sensor based method practically applicable in recognizing the geometric beacons in real-time. The stereo ultrasonic sensor used in the experiment consists of an ultrasonic transmitter and two ultrasonic receivers placed symmetrically about the transmitter Experimental results are provided to demonstrate that the proposed method is more efficient in recognizing wall and coner than the conventional method of using multiple number of transmitter-receiver pairs.

• Nuclear Engineering and Technology
• /
• v.56 no.4
• /
• pp.1153-1164
• /
• 2024

In recent years, unmanned ground vehicles (UGVs) have been used to search for lost or stolen radioactive sources to avoid radiation exposure for operators. To achieve autonomous localization of radioactive sources, the UGVs must have the ability to automatically determine the next radiation measurement location instead of following a predefined path. Also, the radiation field of radioactive sources has to be reconstructed or inverted utilizing discrete measurements to obtain the radiation intensity distribution in the area of interest. In this study, we propose an effective source localization framework and method, in which UGVs are able to autonomously explore in the radiation area to determine the location of radioactive sources through an iterative process: path planning, radiation field reconstruction and estimation of source location. In the search process, the next radiation measurement point of the UGVs is fully predicted by the design path planning algorithm. After obtaining the measurement points and their radiation measurements, the radiation field of radioactive sources is reconstructed by the Gaussian process regression (GPR) model based on machine learning method. Based on the reconstructed radiation field, the locations of radioactive sources can be determined by the peak analysis method. The proposed method is verified through extensive simulation experiments, and the real source localization experiment on a Cs-137 point source shows that the proposed method can accurately locate the radioactive source with an error of approximately 0.30 m. The experimental results reveal the important practicality of our proposed method for source autonomous localization tasks.

• 제어로봇시스템학회:학술대회논문집
• /
• 2002.10a
• /
• pp.92.3-92
• /
• 2002

A lot of localization algorithms have been developed in order to achieve autonomous navigation. However, most of localization algorithms are restricted to certain conditions. In this paper, Monte Carlo localization scheme with a map-matching algorithm is suggested as a robust localization method for the Public Service Robot to accomplish its tasks autonomously. Monte Carlo localization can be applied to local, global and kidnapping localization problems. A range image based measure function and a geometric pattern matching measure function are applied for map matching algorithm. This map matching method can be applied to both polygonal environments and un-polygonal environments and achieves...

• Journal of Institute of Control, Robotics and Systems
• /
• v.15 no.3
• /
• pp.293-299
• /
• 2009

This paper discusses an autonomous navigation system for urban environments. For the localization of the robot, EKF (Extended Kalman Filter) algorithm is used with odometry, angle sensor, and DGPS (Differential Global Positioning System) measurement. Especially in an urban environment, DGPS is often blocked by buildings and trees and the resulting inaccurate positioning prevents the robot from safe and reliable navigation. In addition to the global information from DGPS, the local information of the curb on the roadway is used to track a route when the global DGPS information is inaccurate. For this purpose, curb detection algorithm is developed and implemented in the developed navigation algorithm. Four different types of navigation strategies are developed and they are switched to adapt to different localization conditions according to the availability of DGPS and the existence of the curbs on the roadway. The experimental results show that the designed switching strategy improves the navigation performance adapting to the environment conditions.

• Proceedings of the KIEE Conference
• /
• 2004.11c
• /
• pp.529-531
• /
• 2004

For localization, it is very important for an autonomous mobile robot to be able to recognize indoor environment and match an object it detect to an object within a map developed either online or offline. Given the map defining the locations of geometric beacons like wall and comer existing in the robot operation environment, this paper presents a stereo ultrasonic sensor based method that can be conveniently used in recognizing the geometric beacons. The stereo ultrasonic sensor used in the experiment consists of an ultrasonic transmitter and two ultrasonic receivers placed symmetrically about the transmitter. Experiment shows that the proposed method is more efficient in recognizing wall and coner than the conventional method of using multiple number of transmitter-receiver pairs.

• Journal of information and communication convergence engineering
• /
• v.6 no.1
• /
• pp.10-14
• /
• 2008

The robot localization problem is a key problem in making truly autonomous robots. In this work we provide thorough discussions of Ultrasonic Positioning System can be applied to the localization problem. First, we look at the use of Kalman filters and basic concept and the equation involved in Kalman filters. Secondly, we create understanding of how the Kalman filters can be implemented in robot localization. We show our discussion and experiments how Kalman filters applied to the localization problem. Lastly, we perform simulations using Usat Wheel Chair robot in our own general Kalman filters robot monitoring software.

• Proceedings of the KIEE Conference
• /
• 2004.07d
• /
• pp.2435-2437
• /
• 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.