• 제어로봇시스템학회:학술대회논문집
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• 2005.06a
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• pp.330-333
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• 2005

In this study, a method of designing a neurointerface using neural network (NN) is proposed for controlling nonholonomic mobile robots. According to the concept of virtual master-slave robots, in particular, a partially stable inverse dynamic model of the master robot is acquired online through the NN by applying a feedback-error learning method, in which the feedback controller is assumed to be based on a PD compensator for such a nonholonomic robot. A tracking control problem is demonstrated by some simulations for a nonholonomic mobile robot with two-independent driving wheels.

• Journal of Institute of Control, Robotics and Systems
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• v.14 no.4
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• pp.392-398
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• 2008

We propose a new path planning method for autonomous mobile robots. To maximize the utility of mobile robots, the collision-free shortest path should be generated by on-line computation. In this paper, we develop an effective and practical method to generate a good solution by lower computation time. The initial path is obtained from skeleton graph by Dijkstra's algorithm. Then the path is improved by changing the graph and path dynamically. We apply the dynamic programming algorithm into the stage of improvement. Simulation results are presented to verify the performance of the proposed method.

• Journal of the Korean Institute of Telematics and Electronics T
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• v.36T no.2
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• pp.14-20
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• 1999

In this paper, we discuss about implementation of a wireless communication system for a distributed autonomous robotic system. In order to achieve cooperative behavior among mobile robots, it is required to perform communication. Based on this requirements, we examined to the application in a wireless communication system used by mobile robots. This paper describes a conceptual and experimental framework which provides a distributed control architecture for the study of interactions between multiple mobile robots.

• Proceedings of the KIEE Conference
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• 2008.07a
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• pp.1685-1686
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• 2008

Almost all existing controllers for nonholonomic mobile robots are designed without considering the motor dynamics. This is because the presence of the motor dynamics increases the complexity of the system dynamics, and makes difficult the design of the controller. In this paper, we propose a simple controller for trajectory tracking of mobile robots including motor dynamics. For the simple controller design, the dynamic surface control methodology is applied and extended to multi-input multi-output systems (i.e., mobile robots) that the number of inputs and outputs are different. Finally, simulation results demonstrate the effectiveness of the proposed controller.

• 제어로봇시스템학회:학술대회논문집
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• 2000.10a
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• pp.59-59
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• 2000

In this paper, we present a framework for modeling and control of multiple mobile robots which cowork within a bounded workspace and limited resources. To achieve this goal, we adopt a formalism of discrete event system and supervisory control theory based on Petri nets. We can divide our whole story into two parts: first, we search the shortest path using the distance vector algorithm, and then we construct the control scheme from which a number of mobile robots can work within a bounded workspace without any collision. The use of Petri net modeling allows us In synthesize a controller which achieves a control specification for the desired closed-loop behavior efficiently. Finally, the usefulness of the proposed Petri net formalism is illustrated by a simulation study.

• The Transactions of the Korean Institute of Electrical Engineers D
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• v.52 no.8
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• pp.482-491
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• 2003

In this paper are presented kinematic and dynamic modeling and path-tracking of four-wheeled mobile robots with 2 d.o.f haying the limited drive-torques. Controllability of wheeled-mobile robots is revealed by the kinematic model. Instantaneously coincident coordinate system, force/torque propagation and Newton's equilibrium law are used to drive the dynamic model. When drive-torques generated by inverse dynamics exceed the limitation, we make wheeled-mobile robots follow the reference path by modifying the planned reference trajectory with time-scaling. The controller is introduced to compensate for error owing to modeling uncertainty and measurement noise. And simulation results prove that method proposed by this paper is efficient.

• 제어로봇시스템학회:학술대회논문집
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• 2001.10a
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• pp.25.1-25
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• 2001

Intelligent Space is a space where many sensors and intelligent devices are distributed. Mobile robots exist in this space as physical agents, which provide human with services. To realize this, human and mobile robots have to approach each other as much as possible. Moreover, it is necessary for them to perform interactions naturally. Thus, it is desirable for a mobile robot to carry out human-affnitive movement. In this research, a mobile robot is controlled by the Intelligent Space through its resources. The mobile robot is controlled to follow walking human as stably and precisely as possible.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.36 no.3
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• pp.289-295
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• 2012

In recent years, an increased amount of research has been carried out on mobile robots to improve the performance of service robots. Mobile robots maximize the mobility of service robots, thus allowing them to work in different areas. However, conventional service robots have their center of mass placed high above the ground, which may cause them to fall when moving at high speed. Furthermore, hub-type actuators, which are often used for mobile robots, are large and expensive. In this study, we propose a mobile robot with a hub-type actuator unit and a variable footprint mechanism. The proposed variable footprint mechanism greatly improves the stability and mobility of the robot, allowing it to move freely in a narrow space and carry out various tasks. The performance of the proposed robot is verified experimentally.

• 제어로봇시스템학회:학술대회논문집
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• 1992.10b
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• pp.485-490
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• 1992

This paper describes a hardware structure and a communication system of a multiple autonomous robots system. Many studies have been devoted to the development of a single autonomous robot. It is, however, also necessary to investigate decentralized multiple autonomous robots system in order to make wider use of such robots. We have been studying a multiple autonomous robots system employing two mobile robots. In this paper, problems are overviewed on the developed multiple autonomous robots system from the viewpoint of hardware and communication, and an improved system is presented, which employs a new control strategy of a mobile robot and realizes reliable data communication between host computers.

• 제어로봇시스템학회:학술대회논문집
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• 2001.10a
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• pp.30.2-30
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• 2001

As the era of the human friendly robot looms, the intelligent autonomous mobile robots have obtained tremendous interests in recent years. The robots may be service robots for serving human or industrial robots for replacing human. For the coexistance with human, the robots must be able to feel and recognize three dimensional space that human live. In this paper, we propose three dimensional environmental modeling method based on a neural network technique called Growing Neural Gas Network. The purpose of this neural network is to generate a graphical structure which reflects the topology of the input space. Through this method, the robots´ surroundings are autonomously segmented ...