• ETRI Journal
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• 제37권3호
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• pp.617-625
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• 2015

In this paper, a steering control system for the path tracking of autonomous vehicles is described. The steering control system consists of a path tracker and primitive driver. The path tracker generates the desired steering angle by using the look-ahead distance, vehicle heading, and a lateral offset. A method for applying an autonomous vehicle to path tracking is an advanced pure pursuit method that can reduce cutting corners, which is a weakness of the pure pursuit method. The steering controller controls the steering actuator to follow the desired steering angle. A servo motor is installed to control the steering handle, and it can transmit the steering force using a belt and pulley. We designed a steering controller that is applied to a proportional integral differential controller. However, because of a dead band, the path tracking performance and stability of autonomous vehicles are reduced. To overcome the dead band, a dead band compensator was developed. As a result of the compensator, the path tracking performance and stability are improved.

• The Journal of the Acoustical Society of Korea
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• 제22권1E호
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• pp.33-42
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• 2003

Kuo et al proposed an on-line method for an adaptive prediction error filter for improving secondary path modeling performance in the modeling method of the secondary path. This method have some disadvantages, namely having to use additive noise with the result that noise control performance is not good since it is focused on the estimated performance of the secondary path. In this paper, we proposes a modified Kuo model using gain control parameter and delay. It uses a reference signal for additive noise to improve the problems in the existing Kuo model.

• 한국자동차공학회논문집
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• 제9권1호
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• pp.139-147
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• 2001

In this study a path control scheme of simulation models of various vehicles to evaluate their handling characteristic is developed. Based on the forward target method, path deviation error is estimated and the required steering effort to reduce the error is computed by Ziegler-Nichols PID control rule. Velocity control model is also included in the proposed path control scheme to achieve the desired velocity. The path control scheme is implemented on a full vehicle model to perform ISO test procedures, such as steady state cornering, lane change, and sinusoidal input, etc. Through the simulations of ISO test procedures and comparison with actual tests, effectiveness and validity of the path control model is demonstrated.

• 동력기계공학회지
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• 제7권1호
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• pp.34-41
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• 2003

A method is presented for generating the path which significantly reduces residual vibration of a flexible robot manipulator and applying control theory to track the desired path. The desired path is optimally designed so that the system completes the required move with minimum residual vibration. A closed loop control theory is applied to track the planned path in the case of load variation. Specifically, it is desired that the optimally designed path has a better trajectory tracking capabilities during the residual vibration over the cycloidal path, in various cases of load. Perturbation adaptive control is used as closed loop control scheme. A planar two link manipulator is used to evaluate this method.

• 제어로봇시스템학회논문지
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• 제12권5호
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• pp.444-449
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• 2006

Path planning is a key element in navigation of a mobile robot. Several algorithms such as a gradient method have been successfully implemented so for. Although the gradient method can provide the global optimal path, it computes the navigation function over the whole environment at all times, which result in high computational cost. This paper proposes a high-speed path planning scheme, called a gradient method with topological information, in which the search space for computation of a navigation function can be remarkably reduced by exploiting the characteristics of the topological information reflecting the topology of the navigation path. The computing time of the gradient method with topological information can therefore be significantly decreased without losing the global optimality. This reduced path update period allows the mobile robot to find a collision-free path even in the dynamic environment.

• 한국정밀공학회지
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• 제21권8호
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• pp.73-82
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• 2004

In this paper, implementation of obstacle avoidance of a nonholonomic mobile robot in unstructured environment is introduced. To avoid obstacles, first, a reference collision-free path for the MR is generated off-line using HJB-based optimal path planning method. A controller is designed using integrator backstepping method for tracking the generated reference path. To implement the designed controller, a control system are needed and composed of camera system and PIC-based controller. The workspace is observed by a ceiling-mounted USB camera as part of an un-calibrated camera system. Thus the positional information of the MR is updated frequently and the MR can get the useful inputs for its tracking controller. The whole control system is realized by integrating a computer with PIC-based microprocessor using wireless communication: the image processing control module and path planning module serve as high level computer control while the device control serves as low level PIC microprocessor control. The simulation and experimental results show the effectiveness of the designed control system.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1990년도 한국자동제어학술회의논문집(국내학술편); KOEX, Seoul; 26-27 Oct. 1990
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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.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1988년도 한국자동제어학술회의논문집(국내학술편); 한국전력공사연수원, 서울; 21-22 Oct. 1988
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• pp.72-75
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• 1988

Due to the fact that the set point regulation scheme by the variable structure control method concerns only the initial and final locations of a manipulator, many constraints may exist in the application of path tracking with obstracle avoidance. The variable structure parameter should be selected in the trajectory planning step by satisfying the constraints of the travel time and the path deviations This paper presents the selection algorithm of the variable structure parameters with the constraints of the system dynamics and the travel time and the path deviation. This study makes unify the trajectory planning and tracking control using the variable structure control method.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1988년도 한국자동제어학술회의논문집(국내학술편); 한국전력공사연수원, 서울; 21-22 Oct. 1988
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• pp.63-66
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• 1988

In the control of the robotic manipulators, the variable structure control method for the get Point Regualation has a advantage of the insensitivity about parameter variations and disturbances. When the robotic manipulators are controlled by a point-to-point scheme, no path constraint is considered. Thus, the variable structure control method will be effectively applied only if the trajectory of the robot hand is estimated precisely. In this paper, the joint trajectories in the joint space and the hand trajectory in the cartesian space are calculated by the variable structure control method, and an algorithm is suggested to elaborate the deviation error of the robot hand from a straight line path. The result of this study will become a base of the effective path planning about robotic manipulators with the variable structure control concept.

• 제어로봇시스템학회논문지
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• 제17권4호
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• pp.362-367
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• 2011

The collision-free path of a manipulator should be regenerated in the real time to achieve collision safety when obstacles or humans come into the workspace of the manipulator. A probabilistic roadmap (PRM) method, one of the popular path planning schemes for a manipulator, can find a collision-free path by connecting the start and goal poses through the roadmap constructed by drawing random nodes in the free configuration space. The path planning method based on the configuration space shows robust performance for static environments which can be converted into the off-line processing. However, since this method spends considerable time on converting dynamic obstacles into the configuration space, it is not appropriate for real-time generation of a collision-free path. On the other hand, the method based on the workspace can provide fast response even for dynamic environments because it does not need the conversion into the configuration space. In this paper, we propose an efficient real-time path planning by combining the PRM and the potential field methods to cope with static and dynamic environments. The PRM can generate a collision-free path and the potential field method can determine the configuration of the manipulator. A series of experiments show that the proposed path planning method can provide robust performance for various obstacles.