• 대한전기학회:학술대회논문집
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• 대한전기학회 2011년도 제42회 하계학술대회
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• pp.1916-1917
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• 2011

A development of a new moving obstacle avoidance algorithm using a delay-time Compensation for a network-based autonomous mobile robot is proposed in this paper. The moving obstacle avoidance algorithm is based on a Kalman filter through moving obstacle estimation and a Bezier curve for path generation. And, the network-based mobile robot, that is a unified system composed of distributed environmental sensors, mobile actuators, and controller, is compensated by a network delay compensation algorithm for degradation performance by network delay. The network delay compensation method by a sensor fusion using the Kalman filter is proposed for the localization of the robot to compensate both the delay of readings of an odometry and the delay of reading of environmental sensors. Through some simulation tests, the performance enhancement of the proposed algorithm in the viewpoint of efficient path generation and accurate goal point is shown here.

• 로봇학회논문지
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• 제6권1호
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• pp.27-33
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• 2011

Control and trajectory generation of a 7 DOF anthropomorphic robot arm suffer from computational complexity and singularity problem because of numerical inverse kinematics. To deal with such problems, analytical methods for a redundant robot arm have been researched to enhance the performance of inverse kinematics. In this research, we propose an analytical inverse kinematics algorithm for a 7 DOF anthropomorphic robot arm. Using this algorithm, it is possible to generate a trajectory passing through the singular points and intuitively move the elbow without regard to the end-effector pose. Performance of the proposed algorithm was verified by various simulations. It is shown that the trajectory planning using this algorithm provides correct results near the singular points and can utilize redundancy intuitively.

• 전자공학회논문지S
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• 제34S권1호
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• pp.54-64
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• 1997

In this paper, a method of dynamic modeling and a dynamic control of a mobile robot are presented to show the superiority of the dynamic control comparing to the PD control. This dynamic model is derived from the cartesian coordinates using lagrange equations. Based upon the derived dynamic model, we implemented the dynamic control of the mobile robot using the computed torque method. Time varying non-linear friction terms are not incroporated in this dynamic model. Instead, those are considered as disturbances. This uncertainty in dynamic model of mobile robot is compensated by the outer loop controller using PD algorithm. The validity of this model and the control algorithm are confirmed through the experiments, where the dynamic control algorithm demonstrated robust velocity tracking performance against the unmodeled non-linear frictions. The superiority of this algorithm is demonstrated by comparing to classical PD control algorithm.

• 대한전기학회:학술대회논문집
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• 대한전기학회 1996년도 하계학술대회 논문집 B
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• pp.1219-1221
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• 1996

In this paper, we develop a control system of an Educational Robot and implement a fuzzy algorithm for the position control. The MA2000 robot manufactured by TecQuipment Co. is the controlled system and 3 axes(waist, shoulder, elbow) of total 6 axes are controlled by the fuzzy logic-based algorithm. The control system consists of an IBM PC, an interface board capable of A/D conversion and PWM generation, and a drive board for dc motors in joints of the robot. The experiments show that the modified fuzzy algorithm yields a better performance in steady-stale than that of the conventional fuzzy algorithm.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2002년도 춘계학술대회 논문집
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• pp.450-453
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• 2002

This paper is concerned with smooth walking robot using genetic algorithm. The new walking algorithm is proposed and we simulated and experimented the algorithm. We suggested the leg trajectory algorithm and balancing trajectory algorithm by applying genetic algorithm. First the leg trajectory algorithm generated the smooth trajectory. Also the balancing trajectory generated the optimal trajectory. We compared results with the previous walking algorithm. It showed that the new proposed algorithm generated the better walking trajectory.

• 전기학회논문지
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• 제59권3호
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• pp.651-656
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• 2010

This paper proposes a new dynamic PCA algorithm to recognize types of electric poles, which is necessary for a mobile robot moving along the neutral line for inspecting high-voltage facilities. Since the mobile robot needs to pass over the electric poles and grasp the neutral wire again for the next region inspection, the detection of the electric pole type is a critical factor for the successful passing-over the electric pole. The CCD camera installed on the mobile robot captures the image of the electric pole while it is approaching to the electric pole. Applying the dynamic PCA algorithm to the CCD image, the electric pole type has been classified to provide the stable grasping operation for the mobile robot. The new dynamic PCA algorithm replaces the reference image in real time to improve the robustness of the PCA algorithm, adjusts the brightness to get the clear images, and applies the Laplacian edge detection algorithm to increase the recognition rate of electric pole type. Through the real experiments, the effectiveness of this proposed dynamic PCA algorithm method using Laplacian edge detecting method has been demonstrated, which improves the recognition rate about 20% comparing to the conventional PCA algorithm.

• 한국컴퓨터정보학회논문지
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• 제13권3호
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• pp.85-90
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• 2008

본 논문에서는 가장 덜 복잡한 공간부터 청소하는 공간 효율적인 새로운 로봇 청소 알고리즘인 SetClean 알고리즘을 제안한다. 청소 완료 시간이 길어지거나, 예측하기 어려운 경우에는 전체 청소 완료시간을 최적화하기보다는 가능한 빠른 시간에 가장 넓은 공간을 최대한 청소하는 것이 유리한 경우가 있다. 이를 위해 SetClean 알고리즘에서는 전체 공간을 셋 커버 알고리즘을 이용하여 청소 가능한 공간으로 구분하고, 단위 시간 당 청소 효율이 가장 높은 공간부터 청소를 진행하게 된다. SetClean 알고리즘은 해당 청소 가능 구역의 면적뿐만 아니라 로봇의 현재위치로부터 해당 청소 구역까지의 이동 거리, 청소 구역 내에서의 로봇의 회전으로 인한 지연 시간 등을 고려하여 최적의 청소 순서를 결정한다. 실험을 통해 SetClean 알고리즘의 동작 과정 및 성능을 보여준다.

• Journal of Advanced Marine Engineering and Technology
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• 제32권2호
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• pp.351-358
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• 2008

This paper introduces a map building algorithm which can collect environmental information using ultrasonic sensors. And also this paper discusses a traveling algorithm using environmental information which leads to the map building algorithm. In order to accomplish the proposed traveling algorithm, this paper additionally discusses a path revision algorithm. For verifying the proposed algorithms, several experiments are executed using a mobile robot physically designed in this paper. The conclusion is that the proposed algorithm is very effective and is applicable to mobile robots especially requiring a low-cost environmental information.

• Journal of Advanced Marine Engineering and Technology
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• 제32권1호
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• pp.184-191
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• 2008

In order for a mobile robot to move under unknown or uncertain environment, it must have an environmental information. In collecting environmental information, the mobile robot can use various sensors. In case of using ultrasonic sensors to collect an environmental information, it is able to comprise a low-cost environmental recognition system compared with using other sensors such as vision and laser range-finder. This paper proposes a map building algorithm which can collect environmental information using ultrasonic sensors. And also this paper suggests a traveling algorithm using environmental information which leads to the map building algorithm. In order to accomplish the proposed traveling algorithm, this paper additionally discusses a position revision algorithm.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2003년도 학술회의 논문집 정보 및 제어부문 A
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• pp.11-14
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• 2003

In this paper, we use Fuzzy Logic and Potential field method for optimal path planning of an autonomous mobile robot and apply to navigation for real-time mobile robot in 2D dynamic environment. For safe navigation of the robot, we use both Global and Local path planning. Global path planning is computed off-line using sell-decomposition and Dijkstra algorithm and Local path planning is computed on-line with sensor information using potential field method and Fuzzy Logic. We can get gravitation between two feature points and repulsive force between obstacle and robot through potential field. It is described as a summation of the result of repulsive force between obstacle and robot which is considered as an input through Fuzzy Logic and gravitation to a feature point. With this force, the robot fan get to desired target point safely and fast avoiding obstacles. We Implemented the proposed algorithm with Pioneer-DXE robot in this paper.