• 제어로봇시스템학회논문지
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• 제5권5호
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• pp.529-539
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• 1999

This paper suggests a new image analysis method and indoor navigation control algorithm of mobile robots using a mono vision system. In order to reduce the positional uncertainty which is generated as the robot travels around the workspace, we propose a new visual landmark recognition algorithm with 2-D graph world model which describes the workspace as only a rough plane figure. The suggested algorithm is implemented to our mobile robot and experimented in a real corridor using extended Kalman filter. The validity and performance of the proposed algorithm was verified by showing that the trajectory deviation error was maintained under 0.075m and the position estimation error was sustained under 0.05m in the resultant trajectory of the navigation.

• KSII Transactions on Internet and Information Systems (TIIS)
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• 제13권5호
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• pp.2299-2318
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• 2019

Location-aware networks are of great importance for both civil lives and military applications. Methods based on line-of-sight (LOS) measurements suffer sever performance loss in harsh environments such as indoor scenarios, where sensors can receive both LOS and non-line-of-sight (NLOS) measurements. In this paper, we propose a data association (DA) process based on the expectation maximization (EM) algorithm, which enables us to exploit multipath components (MPCs). By setting the mapping relationship between the measurements and scatters as a latent variable, coefficients of the Gaussian mixture model are estimated. Moreover, considering the misalignment of sensor position, we propose a space-alternating generalized expectation maximization (SAGE)-based algorithms to jointly update the target localization and sensor position information. A two dimensional (2-D) circularly symmetric Gaussian distribution is employed to approximate the probability density function of the sensor's position uncertainty via the minimization of the Kullback-Leibler divergence (KLD), which enables us to calculate the expectation step with low computational complexity. Moreover, a distributed implementation is derived based on the average consensus method to improve the scalability of the proposed algorithm. Simulation results demonstrate that the proposed centralized and distributed algorithms can perform close to the Monte Carlo-based method with much lower communication overhead and computational complexity.

• Nuclear Engineering and Technology
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• 제54권10호
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• pp.3703-3716
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• 2022

Target alignment technology is one of the most critical technologies in laser fusion experiments and is an important technology related to the success of laser fusion experiments. In this study, by combining the open-loop and closed-loop errors of the target alignment, the Kalman state observer is used to estimate the position of the target, which improves the observation precision of the target alignment. Then the optimized result is used to guide the alignment of the target. This method can greatly optimize the target alignment error and reduce uncertainty. With the improvement of the target alignment precision, it will greatly improve the reliability and repeatability of the experiments' results, thereby improving the success rate of the experiments.

• Journal of Positioning, Navigation, and Timing
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• 제12권3호
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• pp.289-294
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• 2023

As technologies such as cameras, Laser Imaging, Detection, and Ranging (LiDAR), and Global Navigation Satellite Systems (GNSS) become more sophisticated and common, their use in autonomous driving technologies is being explored in various fields. In the maritime area, technologies related to collision avoidance between ships are being developed to evaluate and avoid the risk of collision between ships by setting various scenarios. However, the position of each vessel used in the process of developing collision avoidance technology between vessels uses data obtained through GNSS, and may include a position error of 10 m or more depending on the situation. In this paper, a study on the dynamic safety navigation range including the positional inaccuracy of the ship is conducted. By combining the concept of the protection level obtained using GNSS raw data with a conventional safe navigation range, a safer navigation range can be calculated for dynamic navigation. The calculated range is verified using data obtained while sailing in an actual sea environment.

• 한국소음진동공학회논문집
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• 제15권1호
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• pp.20-28
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• 2005

이 논문에서는 기존의 6-축 혹은 9-축 머리진동 측정장치(bite-bar)를 이용한 머리진동 측정에서 직면하는 불확도 인자들에 대한 문제점을 우선 소개한다. 이들 불확도 인자들은 머리의 6-자유도 운동 성분의 추정에 필요한 모든 측정 요소들을 측정하지 않았다는 한계점에서 유발함을 보인다. 이러한 문제점을 극복하기 위하여 4개의 3축 가속도 센서로 구성된 새로운 머리진동 측정장치(12-axis bite-bar)의 모델을 제안한다. 본 모델은 측정 기준점에서의 선형 3축 가속도 뿐 아니라 3축 각 가속도와 함께 6 종의 2차 각속도 성분들의 추정 또한 가능하게 한다. 이러한 12 성분의 추정 모델로부터 비로소 머리의 임의 점에서 6-자유도 운동 성분의 계산이 가능함을 이론적으로 규명한다. 이러한 이론적 배경에 기반을 두고 설계 제작된 12-축 머리진동 장치(12-axis bite-bar)를 소개한다. 본 장치를 이용하여 얻어진 실험 결과 소개 뿐 아니라 기존의 측정장치의 측정 결과와 비교 분석 내용을 소개한다.

• 한국가스학회지
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• 제3권2호
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• pp.62-69
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• 1999

본 논문에서는 혼합감도문제를 이용하여 강인한 서보계를 구성함으로서 동위치 제어 시스템의 제어계를 설계하는 방법을 제안하였고, LQG를 이용한 다변수 디지털 서보 제어기 및 H$\infty$ 최적 제어기와의 비교실험을 통하여 제안된 제어기의 유용성을 입증하였다.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2005년도 ICCAS
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• pp.2325-2330
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• 2005

A potential field method for solving the problem of path planning based on global and local information for a mobile robot moving among a set of stationary obstacles is described. The concept of various method used path planning is used design a planning strategy. A real human living area is constructed by many moving and imminence obstacles. Home service mobile robot must avoid many obstacles instantly. A path that safe and attraction towards the goal is chosen. The potential function depends on distance from the goal and heuristic function relies on surrounding environments. Three additional combined methods are proposed to apply to human living area, calibration robots position by measured surrounding environment and adapted home service robots. In this work, we proposed the application of various path planning theory to real area, human living. First, we consider potential field method. Potential field method is attractive method, but that method has great problem called local minimum. So we proposed intermediate point in real area. Intermediate point was set in doorframe and between walls there is connect other room or other area. Intermediate point is very efficiency in computing path. That point is able to smaller area, area divided by intermediate point line. The important idea is intermediate point is permanent point until destruction house or apartment house. Second step is move robot with sensing on front of mobile robot. With sensing, mobile robot recognize obstacle and judge moving obstacle. If mobile robot is reach the intermediate point, robot sensing the surround of point. Mobile robot has data about intermediate point, so mobile robot is able to calibration robots position and direction. Third, we gave uncertainty to robot and obstacles. Because, mobile robot was motion and sensing ability is not enough to control. Robot and obstacle have uncertainty. So, mobile robot planed safe path planning to collision free. Finally, escape local minimum, that has possibility occur robot do not work. Local minimum problem solved by virtual obstacle method. Next is some supposition in real living area.

• 한국전자통신학회논문지
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• 제6권2호
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• pp.288-295
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• 2011

본 논문에서는 몬테 카를로 방법을 사용한 수중로봇의 위치추정 방법을 제안한다. 수중로봇의 위치추정은 자율 주행을 위한 기본 기능의 하나이다. 제안된 알고리즘에 의하면 추측항법(데드 레크닝 방법)의 약점인 위치 오차 누적 문제를 해결할 수 있다. 제안된 방법은 확률적인 방법으로 로봇 동작의 불확실성과 센서 정보의 불확실성을 처리한다. 특히 칼만 필터 방법과 달리, 로봇의 비선형 운동 특성과 센서의 비가우시안 출력 분포 특성을 모델링할 수 있다. 본 논문에서는 수중로봇 위치 추정에 몬테카를로 위치추정(Monte Carlo Localization : MCL, 이하 MCL로 표기함) 알고리즘을 적용하기 위하여 오일러각을 이용하여 모션모델을 구하였다. 또한 수중로봇에 모션모델과 센서모델을 적용하여 시뮬레이션을 구현하고, 이를 통해 수중로봇에 MCL 알고리즘의 적용 가능성을 보였다.

• 한국항행학회논문지
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• 제22권5호
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• pp.375-383
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• 2018

정지한 객체의 측위에 사용되던 Network RTK (real time kinematics) 기술을 이동형 항체의 항법에 적용하기 위해서는 보정정보와 함께 사용자의 성능을 대표할 수 있는 지표가 함께 제공되어야 한다. 이를 위하여 본 논문에서는 I95 (ionospheric index 95) / G95 (geodetic index 95), SBI (semivariance based index), RIU (residual interpolation uncertainty) 등의 지표 도출 알고리즘을 분석하고 이를 국토지리정보원의 기준국 원시 데이터와 VRS (virtual reference station) 사용자에 적용함으로써 정밀 항법 성능 지표로의 활용 가능성을 타진하였다. 24시간 데이터를 처리한 결과 보정정보의 비선형성을 나타낼 수 있는 RIU 지표와 Network RTK 사용자의 위치 정확도와의 상관성이 0.52로 타 지표에 비해 훨씬 높은 것으로 나타났으므로 향후 이동 항체의 항법 성능 지표로 사용이 가능할 것으로 예상된다.