• 제어로봇시스템학회논문지
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• 제11권4호
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• pp.322-329
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• 2005

This paper considers the application of mobile robot to the herding problem. The herding problem involves a ‘pursuer’ trying to herd a moving ‘evader’ to a predefined location. In this paper, two mobile robots act as pursuer and evader in the fenced area, where the pursuer robot uses a fuzzy cooperative decision strategy (FCDS) in the herding algorithm. To herd evader robot to a predefined position, the pursuer robot calculates strategic herding point and then navigates to that point using FCDS. FCDS consists of a two-level hierarchy: low level motion descriptors and a high level coordinator. In order to optimize the FCDS, we use the multi­thread evolutionary programming algorithm. The proposed algorithm is implemented in the real mobile robot system and its performance is demonstrated using experimental results.

• 전자공학회논문지 IE
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• 제47권2호
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• pp.66-72
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• 2010

자율적인 다중이동 로봇환경에서는 현시점에서 목표점까지 장애물과 충돌없이 연결하는 최적 경로를 설정하는 것은 필수불가결하며 매우 중요하다. 실제 많은 이동로봇은 주위 장애물에 대하여 주어진 정보 없이 미지의 환경에서 자율적 이동이 가능해야 한다. 따라서 본 논문에서는 다중이동 로봇환경에 적합한 새로운 형태의 충돌회피 최적경로에 대한 방법을 연구한다. 잘 알려진 포텐셜필드 방법을 이용하여 다중이동 로봇의 전역경로를 계획하고, 퍼지로직 시스템을 이용하여 각 로봇에 근접하는 혹은 경로를 가로막는 장애물과의 충돌을 피하기 위한 지역경로를 계획한다. 제안된 방법의 성능 및 정확성을 검증하기 위해 다양한 모의실험을 진행하여 결과를 검증하고 이의 결과를 토의한다.

• 제어로봇시스템학회논문지
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• 제8권3호
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• pp.270-274
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• 2002

This paper presents a teleoperation system that combines computer network and an autonomous mobile robot. We control remotely an autonomous mobile robot with vision over the Internet to guide it under unknown environments in the real time. The main feature of this system is that local operators need a web browser and a computer connected to the communication network and so they can command the robot in a remote location through the 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 client part for the user interface and robot control as well as the server part for communication between users and robot. The server and client systems are developed using Java language which is suitable to internet application and supports multi-platform. Furthermore. this system offers an image compression method using JPEG concept which reduces large time delay that occurs in network during image transmission.

• Journal of Information Processing Systems
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• 제8권3호
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• pp.471-482
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• 2012

For disaster exploration and surveillance application, this paper aims to present a novel application of a multi-robot agent based on WSN and to evaluate a multi-hop communication caused by the robotics correspondingly, which are used in the uncertain and unknown subterranean tunnel. A Primary-Scout Multi-Robot System (PS-MRS) was proposed. A chain topology in a subterranean environment was implemented using a trimmed ZigBee2006 protocol stack to build the multi-hop communication network. The ZigBee IC-CC2530 modular circuit was adapted by mounting it on the PS-MRS. A physical experiment based on the strategy of PS-MRS was used in this paper to evaluate the efficiency of multi-hop communication and to realize the delivery of data packets in an unknown and uncertain underground laboratory environment.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2000년도 제15차 학술회의논문집
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• pp.400-400
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• 2000

This paper purposed that verify the validity of Petri Net method for control progressive increase of system complexity, before extend the realized single robot system to multi-robot system. An autonomous mobile robot(AMR) needs decision making, motion control, path planning, tracking a path, obstacle avoidance, and sensor fusion, to complete its task. An AMR integrates and operates these technics through a consistent command system. An error in a command hierarchy which is like duplication or omission of a control command hierarchy for each module results in serious problems. This paper minimizes the error by modeling each module and whole system using Petri Net graphical representation and applies it to the exploration task of an AMR

• 한국산업융합학회 논문집
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• 제21권2호
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• pp.95-101
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• 2018

This paper presents a collision free mobile robot navigation based on the fuzzy inference fusion model in unkonown environments using multi-ultrasonic sensor. Six ultrasonic sensors are used for the collision avoidance approach where CCD camera sensors is used for the trajectory following approach. The fuzzy system is composed of three inputs which are the six distance sensors and the camera, two outputs which are the left and right velocities of the mobile robot's wheels, and three cost functions for the robot's movement, direction, obstacle avoidance, and rotation. For the evaluation of the proposed algorithm, we performed real experiments with mobile robot with ultrasonic sensors. The results show that the proposed algorithm is apt to identify obstacles in unknown environments to guide the robot to the goal location safely.

• 한국정보처리학회:학술대회논문집
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• 한국정보처리학회 2002년도 추계학술발표논문집 (상)
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• pp.27-30
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• 2002

Recently, there are lots of concerning on the control of multi-agent control system and mixed reality integrating real and virtual environments. In this paper, an integrated agent control system based on mixed reality and mobile environment is proposed. The system consists of a manager, agents, a mapping module, a geographic information module, a WAP server, and a mobile manager. The manager has Hybrid Device Manager(HDM) working for revising images and position data of the agents to display that at the 3D virtual and mobile environments respectively. Especially, the images of the agent is translated to LBM format and displayed on the mobile phone, and the current position of the agent is displayed on the display screen, so that a user are able to control the agent when he is moving. Experimental results shows the proposed system lets us control the agents conveniently at a computer and a mobile phone.

• 한국지능시스템학회논문지
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• 제17권6호
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• pp.744-748
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• 2007

이 논문에서는 다수의 IR 거리센서를 이용한 실내용 이동로봇의 자기위치 추정에 관한 새로운 방법을 제안한다. 각각의 IR 거리센서로부터 획득한 거리데이터를 이용하여 장애물과 벽면의 모서리를 검출한다. 각 센서에서 측정된 데이터를 병합하여 환경지도를 작성한다. 실험을 통하여 얻어진 환경지도와 실제 환경을 비교하고 그 성능을 평가하였다.

• 로봇학회논문지
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• 제2권4호
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• pp.310-316
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• 2007

The paper proposes a human-following behavior of mobile robot and an intelligent space (ISpace) is used in order to achieve these goals. An ISpace is a 3-D environment in which many sensors and intelligent devices are distributed. Mobile robots exist in this space as physical agents providing humans with services. A mobile robot is controlled to track a walking human using distributed intelligent sensors as stably and precisely as possible. The moving objects is assumed to be a point-object and projected onto an image plane to form a geometrical constraint equation that provides position data of the object based on the kinematics of the intelligent space. Uncertainties in the position estimation caused by the point-object assumption are compensated using the Kalman filter. To generate the shortest time trajectory to track the walking human, the linear and angular velocities are estimated and utilized. The computer simulation and experimental results of estimating and trackinging of the walking human with the mobile robot are presented.

• 한국산업융합학회 논문집
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• 제25권4_1호
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• pp.521-531
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• 2022

This study proposed a new approach to intelligent control of a mobile robot system by back properpagation based on multi-layer neural network. A experiment result is given in which some artificial assumptions about the linear and the angluar velocities of mobile robots from recent literature are dropped. In this study, we proposed a new thinique to impliment the real time conrol of he position and velocity of mobile robots. With the proposed control techinique, mobile robots can now globally follow any path such as a straight line, a circle and the path approaching th toe origin using proposed controller. Computer simulations are presented, which confirm the effectiveness of the proposed control algorithm. Moreover, practical experimental results concerning the real time control are reported with several real line constraints for mobile robots with two wheel driving.