• International Journal of Control, Automation, and Systems
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• v.6 no.5
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• pp.713-721
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• 2008

This paper presents the robust velocity estimation of an omnidirectional mobile robot using a polygonal array of optical mice that are installed at the bottom of the mobile robot. First, the velocity kinematics from a mobile robot to an array of optical mice is derived as an overdetermined linear system. The least squares velocity estimate of a mobile robot is then obtained, which becomes the same as the simple average for a regular polygonal arrangement of optical mice. Next, several practical issues that need be addressed for the use of the least squares mobile robot velocity estimation using optical mice are investigated, which include measurement noises, partial malfunctions, and imperfect installation. Finally, experimental results with different number of optical mice and under different floor surface conditions are given to demonstrate the validity and performance of the proposed least squares mobile robot velocity estimation method.

• Journal of Institute of Control, Robotics and Systems
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• v.16 no.3
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• pp.239-244
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• 2010

This paper is to present map building of mobile robot using RFID (Radio Frequency Identification) technology and ultrasonic sensor. For mobile robot to perform map building, the mobile robot needs its localization and accurate driving in space. In this reason, firstly, kinematic modeling of mobile robot under non-holonomic constrains is introduced. Secondly, based on this modeling, a tracking controller is designed for tracking a given path based on backstepping method using Lyapunov function. The Lyapunov function is also introduced for proving the stability of the designed tracking controller. Thirdly, 2D map building is performed by RFID system, mobile robot system and ultrasonic sensors. The RFID mobile robot system is composed of DC motor, encoder, ultra sonic sensor, digital compass, RFID receiver and RFID antenna. Finally, the path tracking simulation results and map building experimental results are presented to show the effectiveness of the designed controller.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2000.11a
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• pp.713-716
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• 2000

In this study, we present a mobile robot for ultrasonic scanning of weldment. magnetic Caterpillar mechanism is selected in order to travel on the inclined surface and vertical wall. A motion control board and motor driver are developed to control four DC-servo motors. A virtual device driver is also developed for the purpose of communicating between the control board and a host PC with Dual 'port ram. To provide the mobile robot with stable and accurate movement, PID control algorithm is applied to the mobile robot control. And a vision system for detecting the weld-line are developed with laser slit beam as a light source. In the experiments, movement of the mobile robot is tested inclined on a surface and a vertical wall.

• Journal of Institute of Control, Robotics and Systems
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• v.19 no.7
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• pp.605-613
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• 2013

This research proposes a vibration pattern algorithm to implement the haptic joystick to control a mobile robot at the remote site without watching the navigation environment. When the user cannot watch the navigation environment of the mobile robot, the user may rely on the haptic joystick solely to avoid obstacles and to guide the mobile robot to the target. To generate vibration patterns, there is a vibration motor at the bottom of the joystick which is held by the user to control the motion direction of the mobile robot remotely. When the mobile robot approaches to an obstacle, a pattern of vibration is generated by the motor, and by feeling the vibration pattern which is determined by the relative position of the mobile robot to the obstacle, the user can move the joystick to avoid the collision to the obstacle for the mobile robot. To generate the vibration patterns to convey the relative location of the obstacle near the mobile robot to the user, Fuzzy interferences have been utilized. To measure the distance and location of the obstacle near the mobile robot, ultrasonic sensors with the ring structure have been adopted and they are attached at the front and back sides of the mobile robot. The precise location of the obstacle is obtained by fusing the multiple data from ultrasonic sensors. Effectiveness of the proposed algorithm has been verified through the real experiments and the results are demonstrated.

• Proceedings of the KIEE Conference
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• 2002.11c
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• pp.509-512
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• 2002

We propose a control method for mobile robot system using the bluetooth. The control packet is defined and used for control of the mobile robot. The control packet is composed of behavior components and has reserved packets for future working. The control packet has to be simple and provide commands to the mobile robot, since the bluetooth has a limited bandwidth. The data transmission rate and the distance, which can control the mobile robot in various circumstances, for example, corridor, yard, and room are measured by some experiments.

• IEMEK Journal of Embedded Systems and Applications
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• v.15 no.2
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• pp.95-101
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• 2020

In situations where mobile robots are operated either by autonomous systems or human operators, such as smart factories, priority-based teleoperation is crucial for the multiple operators with different priority to take over the right of the robot control without conflict. This paper proposes a priority-based teleoperation system for multiple operators to control the robots. This paper also introduces an efficient joystick-based robot control command generation algorithm for differential-drive mobile robots. The proposed system is implemented with ROS (Robot Operating System) and embedded control boards, and is applied to Pioneer 3AT mobile robot platform. The experimental results demonstrate the effectiveness of the proposed joystick control command algorithm and the priority-based control input selection.

• Journal of Electrical Engineering and Technology
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• v.11 no.4
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• pp.1012-1019
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• 2016

A robust control intended for a nonholonomic mobile robot is considered to guarantee good tracking a desired trajectory. The main drawbacks of the mobile robot model are the existence of nonholonomic constraints, uncertain system parameters and un-modeled dynamics. in order to overcome these drawbacks, we propose a robust control based on Lyapunov theory associated with sliding-mode control, this solution shows good robustness with respect to parameter variations, measurement errors, noise and guarantees position and velocity tracking. The global asymptotic stability of the overall system is proven theoretically. The simulation results largely confirm the effectiveness of the proposed control.

• Journal of Institute of Control, Robotics and Systems
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• v.19 no.11
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• pp.1043-1047
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• 2013

Smart mobile robot is a kind of Intelligent Robot. It means that operates manipulate autonomously and recognize the external environment. Smart mobile robot moving mechanism has many type and the type depend on the robot shape or purpose. Recently, research on the moving mechanism has been actively in many area. The moving mechanism divided to wheel type, crawler type, walking type, other type and the moving type choose by the kind of robot or the purpose robot. In this paper, describe the kind of moving mechanism on the smart mobile robot and the technical trend of moving mechanism of smart mobile robot.

• 제어로봇시스템학회:학술대회논문집
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• 1990.10a
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• pp.710-715
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• 1990

This paper presents a path control method for mobile robot using neural network and a systematic method for the kinematic and dynamic modelling of a mobile robot. The robot finds its path deviation by taking the signals of an optical array sensor and determined its moving behaviors using neural net control method. A robot can be taught behaviors by changing the given patterns, in this work, Back Propagation rule is used as a learning method.

• International Journal of Fuzzy Logic and Intelligent Systems
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• v.15 no.4
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• pp.232-239
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• 2015

Studies on the control of the inverted pendulum type system have been widely reported. This is because it is a typical complex nonlinear system and may be a good model for verifying the performance of a proposed control system. In this paper, we propose the design of some fuzzy logic control (FLC) systems for controlling a Segway-type mobile robot, which is an inverted pendulum type system. We first derive a dynamic model of the Segway-type mobile robot and then analyze it in detail. Next, we propose the design of some FLC systems that have good performance for the control of any nonlinear system. Then, we design two conventional FLC systems for the position and balance control of the Segway-type mobile robot, and we demonstrate their usefulness through simulations. Next, we point out the possibility of simplifying the design process and reducing the computational complexity,, which results from the skew symmetric property of the fuzzy control rule tables. Finally, we design two other FLC systems for position and balance control of the Segway-type mobile robot. These systems have only one input variable in the FLC systems. Furthermore, we observe that they offer similar control performance to that of the conventional two-input FLC systems.