• 대한전자공학회논문지TE
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• 제42권2호
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• pp.15-22
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• 2005

본 논문에서는 이동 로봇 주행의 경로 탐색에 장해가 되는 환경 인식의 불확실성을 감소시키기 위한 센서 결합 방식을 제시하였다. 광학식엔코더, 초음파센서(SRF04)및, 적외선센서(GP2YA02YK)에서 수집된 데이터를 운동제어기(TMS320LF2407A)에서 처리하여 장애물을 감지하고, 안정적인 경로탐색을 계산할 수 있는 이동로봇 제어방식을 실험을 통하여 구현하였다.

• 대한전기학회:학술대회논문집
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• 대한전기학회 1999년도 추계학술대회 논문집 학회본부 B
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• pp.627-629
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• 1999

The research fields of mobile robot consist of three parts. The first is path planning, the second is the application of new sensors, and the last is a combination of the communication technology and mobile robot. In this paper we treat the path-planning. We use a Bayesian probability map, Distance Transform and Fuzzy logic for a path-planning. DT and Fuzzy logic algorithms search for path in entire, continuous free space and unifies global path planning and local path planning. It is efficient and effective method when compared with navigators using traditional approaches.

• 대한전자공학회:학술대회논문집
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• 대한전자공학회 2002년도 하계종합학술대회 논문집(5)
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• pp.25-28
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• 2002

The path planning of autonomous mobile robot use two method. One is global path planning and another is local path planning. In this paper, We study the local path planning of autonomous mobile robot move in unknown enviroment. This local path planning is based on neural network using the direction indicator rules learning. also the system is made up of sensor system. The motion control system for real-time execution. The experimental results show that the developed direction indicator system operates properly and strongly at circumstance.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2004년도 추계학술대회 논문집
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• pp.1475-1478
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• 2004

This paper describes map building for the path planning to avoid obstacles with vision sensor and ultrasonic sensor. We get the 2 dimensional information from the processed images of CCD sensor and 1 dimensional range information from ultrasonic sensor. I proposed a way to generate the map which contains these two kinds of information in the program. And we made the biped robot which have 20 DOF with these sensors and get good experimental result to prove the validity of the proposed method.

• KSII Transactions on Internet and Information Systems (TIIS)
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• 제16권10호
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• pp.3373-3389
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• 2022

Exploration of mobile robot without prior data about environments is a fundamental problem during the SLAM processes. In this work, we propose improved version of previous Rmap algorithm by modifying its Exploration submodule. Despite the previous Rmap's performance which significantly reduces the overhead of the grid map, its exploration module costs a lot because of its rectangle following algorithm. To prevent that, we propose a new Rmap+ algorithm for autonomous path planning of mobile robot to explore an unknown environment. The algorithm bases on paired frontiers. To navigate and extend an exploration area of mobile robot, the Rmap+ utilizes the inner and outer frontiers. In each exploration round, the mobile robot using the sensor range determines the frontiers. Then robot periodically changes the range of sensor and generates inner pairs of frontiers. After calculating the length of each frontiers' and its corresponding pairs, the Rmap+ selects the goal point to navigate the robot. The experimental results represent efficiency and applicability on exploration time and distance, i.e., to complete the whole exploration, the path distance decreased from 15% to 69%, as well as the robot decreased the time consumption from 12% to 86% than previous algorithms.

• 한국정밀공학회지
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• 제16권12호
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• pp.182-189
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• 1999

In this paper, we present an ultrasonic sensor based path planning method using fuzzy logic for obstacle avoidance of an intelligent vehicle in unknown environments. Generally, Robot navigation in unknown terrains is a very complex task difficult to control because of the great amount of imprecise and ambiguous sensor information that has to be considered. In this case, fuzzy logic can satisfactorily deal with such information in quite efficient manner. In this study, we propose two fuzzy logic controller which is composed of steering controller and velocity controller respectively. Our object is to develop a fuzzy controller that can enable a mobile robot to navigate from a start point to a goal point without collisions, in the least possible travel time. The ability and effectiveness for the proposed algorithm will be demonstrated by simulation and expeiment.

• 한국공간정보시스템학회 논문지
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• 제11권2호
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• pp.63-72
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• 2009

Korean Land Spatialization Program (KLSP) is an R&D program of the National GIS Project for developing ubiquitous GIS technologies under the control of the M inistry of Land, Transport and Maritime Affairs (M LTM). The first program of the KLSP, which lasts from 2006 to 2012, initiated with $132 million of national funds and $42 million of private matching funds. Aiming to develop the 'Innovation of GIS technology for ubiquitous Korean land', the KLSP consists of five core research projects and one research coordination project to practically utilize and commercialize the results of core research projects. The Korean Land Spatialization Group (KLSG) is planning the KLSP Test-Bed for testing, integrating, and exhibiting the KLSP's outcomes. About 40% of the outcomes are related products to geo-sensor and wireless sensor network (W SN). Thus, interoperable, scalable and web accessible frameworks like an OGC SWE (Open Geospatial Consortium Sensor Web Enablement) are mandatory because some of the products must be connected to each other in a KLSG Test-Bed. The main objective of this paper is to introduce the KLSP Test-Bed and the SWE SOS (Sensor Observation Service) prototype, which is developed for interoperable geo-sensor networks of the KLSP.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2003년도 ICCAS
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• pp.1593-1597
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• 2003

The home service robot supports human beings by performing various kinds of works at home. This paper presents a simple control method for opening a door from the viewpoint of the mobile manipulation. The simulation shows various results of path planning and motion planning for opening a door. The joint trajectories were generated by the simulation system. In general, a six-axis force/torque sensor at an end-effector is needed in order to maintain the static equilibrium of the manipulator. But we show another method. From three components of applied forces which was directly obtained by the three-axis force sensor and three components of applied forces which was indirectly estimated by the joint-torque sensors, all of joint torques that will exactly balance forces at the end-effector in the static situation can be found. It is more practical method than using a six-axis force sensor in a wrist. Experimental results have shown that the opening a door can be realized more effectively from the suggested control method of mobile manipulation.

• 한국정밀공학회지
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• 제26권2호
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• pp.63-70
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• 2009

This paper proposes a novel path finding approach of a mobile robot using RF strength in sensor network. In the experiments based on the proposed method, a mobile robot attempts to find its location, heading direction and the shortest path in the indoor environment. The experimental system consisting of mesh network shares node data and send them to base station. The triangulation and the proposed Grid method calculate the location and heading angle of the robot. In addition, the robot finds the shortest path by using the base station attached on it to receive data of environment around each node. Kalman filter reduces the straight line error when the robot estimates the strength of received signal. The experimental results show the effectiveness of the proposed algorithm.

• 전기학회논문지P
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• 제51권3호
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• pp.155-160
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• 2002

This paper focuses on the problem of local obstacle avoidance of mobile robots. To solve this problem, the safety direction section search algorithm is suggested. This concept is mainly composed with non-collision section and collision section from the detecting area of laser scanning sensor. Then, we will search for the most suitable direction in these sections. The proposed local motion planning method is simple and requires less computation than others. An environment model is developed using the vector space concept to determine robot motion direction taking the target direction, obstacle configuration, and robot trajectory into account. Since the motion command is obtained considering motion dynamics, it results in smooth and fast as well as safe movement. Using the mobile base, the proposed obstacle avoidance method is tested, especially in the environment with pillar, wall and some doors. Also, the proposed autonomous motion planning and control algorithm are tested extensively. The experimental results show the proposed method yields safe and stable robot motion through the motion speed is not so fast.