• Proceedings of the IEEK Conference
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• 2000.06e
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• pp.31-34
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• 2000

In this paper, we design an optimal path for multiple mobile robots. For this purpose, we propose a new method of path planning for multiple mobile robots in dynamic environment. First, every mobile robot searches a global path using a distance transform algorithm. Then we put subgoals at crooked path points and optimize them. And finally to obtain an optimal on-line local path, ever)r mobile robot searches a new path with static and dynamic obstacle avoidance.

• 제어로봇시스템학회:학술대회논문집
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• 2000.10a
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• pp.418-418
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• 2000

This paper proposes a path planning algorithm for mobile robot. To generate an optimal path and minimum time path for a mobile robot, we use the Genetic Algorithm(GA) and Visibility Graph. After finding a minimum-distance between start and goal point, the path is revised to find the minimum time path by path-smoothing algorithm. Simulation results show that the proposed algorithms are more effective.

• The Transactions of the Korean Institute of Electrical Engineers A
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• v.48 no.11
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• pp.1448-1456
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• 1999

In this paper, we propose a new technique for path-following of the wheeled mobile robot systems with nonholonomic constraints using a path-observer. We discuss the path-following problems of the nonholonomic mobile robot systems which have two nonsteerable, independently driven wheels with the various initial conditions such as a position, a heading angle, and a velocity. It is shown that the performance of dynamic path-following importantly is affected by the intial conditions. Particularly, if the initial conditions become more distant from the desired path and the desired velocity become faster, the system is shown to have worse performance and small time local stable. To find the controllable and stable control for path-following with various initial configuration, we propose the path-observer which can be used for control of the stable path-following of nonholonomic mobile robot system with the various initial conditions. The proposed scheme exhibits the efficient path-following properties for nonholonomic mobile robot in any intial conditions. The simulation results demonstrate the effectiveness of the proposed method for dynamic path-following tasks with the various initial conditions.

• IEMEK Journal of Embedded Systems and Applications
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• v.9 no.2
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• pp.101-107
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• 2014

Mobile robots use an environment map of its workspace to complete the surveillance task. However grid-based maps that are commonly used map format for mobile robot navigation use a large size of memory for accurate representation of environment. In this reason, grid-based maps are not suitable for path planning of mobile robots using embedded board. In this paper, we present the path planning algorithm that produce a secure path rapidly. The proposed approach utilizes a hybrid map that uses less memory than grid map and has same efficiency of a topological map. Experimental results show that the fast path planning uses only 1.5% of the time that a grid map based path planning requires. And the results show a secure path for mobile robot.

• Proceedings of the KIEE Conference
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• 2001.07d
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• pp.2417-2419
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• 2001

A path planning is one of the main subjects in a mobile robot. It is divided into two parts. One is a global path planning and another is a local path planning. This paper, using the formal two methods, presents that the mobile robot moves to multi-targets with avoiding unknown obstacles. For the shortest time and the lowest cost, the mobile robot has to find a optimal path between targets. To find a optimal global path, we used GA(Genetic Algorithm) that has advantage of optimization. After finding the global path, the mobile robot has to move toward targets without a collision. FLC(Fuzzy Logic Controller) is used for local path planning. FLC decides where and how faster the mobile robot moves. The validity of the study that searches the shortest global path using GA in multi targets and moves to targets without a collision using FLC, is verified by simulations.

• Proceedings of the KIEE Conference
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• 2003.07d
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• pp.2420-2422
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• 2003

In this paper, two Fuzzy Logics for path planning of an autonomous mobile robot are proposed. If a target point is given, such problems regarding the velocity and object recognition are closely related with path to which the mobile robot navigates. Therefore, to ensure safety navigation of the mobile robot for two fuzzy logic parts, path planning considering the surrounding environment was performed in this paper. First, feature points for local and global path are determined by utilizing Cell Decomposition off-line computation. Second, the on-line robot using two Fuzzy Logics navigates around path when it tracks the feature points. We demonstrated optimized path planning only for local path using object recognition fuzzy logic corresponds to domestic situation. Furthermore, when navigating, the robot uses fuzzy logic for velocity and target angle. The proposed algorithms for path planning has been implemented and tested with pioneer-dxe mobile robot.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.63 no.1
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• pp.115-122
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• 2014

Mobile robot has been studied for long time due to its simple structure and easy modeling. Regarding path planning of the mobile robot, we suggest real-time hybrid path planning algorithm which is the combination of optimal path planning and real-time path planning in this paper. Real-time hybrid path planning algorithm modifies, finds best route, and saves calculating time. It firstly plan the route with real-time path planning then robot starts to move according to the planned route. While robot is moving, update the route as the best outcome which found by optimal path planning algorithm. Verifying the performance of the proposed method through the comparing real-time hybrid path planning with optimal path planning will be done.

• Journal of Institute of Control, Robotics and Systems
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• v.16 no.8
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• pp.771-779
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• 2010

This paper presents a method that integrates the geometric path tracking and the obstacle avoidance for nonholonomic mobile robot. The mobile robot follows the path by moving through the turning radius given from the pure pursuit method which is the one of the geometric path tracking methods. And the obstacle generates the obstacle potential, from this potential, the virtual force is obtained. Therefore, the turning radius for avoiding the obstacle is calculated by proportional to the virtual force. By integrating the turning radius for avoiding the obstacle and the turning radius for following the path, the mobile robot follows the path and avoids the obstacle simultaneously. The effectiveness of the proposed method is verified through the real experiments for path tracking only, static obstacle avoidance, dynamic obstacle avoidance.

• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.162-167
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• 2003

In this paper, a novel feasible real-time system was researched for a differential driven wheeled autonomous mobile robot so that the mobile robot can move in a smooth, safe and elegant way. Least Square Minimum Path Planning was well used for the system to generate a smooth executable path for the mobile robot, and the point-to-point tracking algorithm was presented as well as its application in arbitrary path tracking. In order to make sure the robot can run elegantly and safely, trapezoidal speed was integrated into the point-to-point path tracking algorithm. The application to guest following for the autonomous mobile robot shows its wide application of the algorithm. The novel design was successfully proved to be feasible by our experiments on our mobile robot Interactive Robot Usher (IRU) in National University of Singapore.

• 제어로봇시스템학회:학술대회논문집
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• 1988.10a
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• pp.142-147
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• 1988

Free-path-type guidance system does not need a hardwired path in the environment so that it gives a mobile robot a flexible path. ln this study to achieve the free-path-type guidance system for a mobile robot which is steered by the differential steering of both drive forewheels, position recognition systems are constructed using odometer system as an internal position sensor. Two odometer systems, a auxiliary wheel odometer and a 2-encoder odometer system are constructed and path following algorithms using these odometer systems are designed and experimented. PID control type is adopted in the path following algorithms.