• 제어로봇시스템학회논문지
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• 제17권10호
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• pp.1006-1013
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• 2011

In this paper, we propose an optimal posture control law for an unmanned bicycle by deriving linear bicycle model from fully nonlinear differential equations. We calculate each equilibrium point of a bicycle under any given turning radius and angular speed of rear wheel. There is only one equilibrium point when a bicycle goes straight, while there are a lot of equilibrium points in case of turning. We present an optimal equilibrium point which makes the leaning input minimum when a bicycle is turning. As human riders give rolling torque by moving center of gravity of a body, many previous studies use a movable mass to move center of gravity like humans do. Instead we propose a propeller as a new leaning input which generates rolling torque. The propeller thrust input makes bicycle model simpler and removes input magnitude constraint unlike a movable mass. The proposed controller can hold optimal equilibrium points using both steering input and leaning input. The simulation results on linear control for circular motion are demonstrated to show the validity of the proposed approach.

• Transactions on Control, Automation and Systems Engineering
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• 제3권3호
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• pp.176-180
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• 2001

In this papers, we derive a simple kinematic and dynamic formulation of an unmanned electric bicycle. We also check the controllability of the stabilization problem of bicycle. We propose a new control algorithm for the self stabilization of unmanned bicycle with bounded wheel speed and steering angle by using nonlinear control based on the sliding patch and stuck phenomena which was introduced by W. Ham. We also propose a sort of optimal control strategy for steering angle and driving wheel speed that make the length of bicycle\`s path be the shortest. From the computer simulation results, we prove the validity of the proposed control algorithm.

• 디지털산업정보학회논문지
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• 제7권4호
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• pp.47-55
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• 2011

In this paper, the management system for a bicycle station using 900 MHz RFID technology has been developed. Based on the several reasons such as environmental pollution, high oil prices, and the government's eco-friendly policies, a bicycle usage is increasing nowadays. Accordingly, a need for bicycle parking spaces has already been emerging and increasing around a bicycle station. But most of the bicycle parking system are operated by manually, and it causes somewhat inefficient. Therefore, this paper suggests an unmanned bicycle station using RFID technology. The proposed system is supported by the mobile applications that are operated in the smart phones, and which gives the real-time access to the information of bicycle station. The proposed system yields owners of bicycle owners the convenience and efficiency of the station management in order to maximize the function of the bicycle stations.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2001년도 ICCAS
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• pp.51.3-51
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• 2001

In this paper, research of unmanned electric bicycle based on autonomic traveling is discussed. We derived dynamic equation of bicycle and introduced control theory that bicycle´s tilt angle and velocity is stable in some region. We implemented system using DSP processor, accelerometer and DC motor. Then, we carried out an experiment based on studied Control theory.

• 한국지능시스템학회:학술대회논문집
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• 한국퍼지및지능시스템학회 2004년도 춘계학술대회 학술발표 논문집 제14권 제1호
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• pp.446-449
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• 2004

In the former researches〔2〕〔5〕 for the unmanned bicycle system, we do only focus on stabilizing it by using the lateral motion of mass which plays important role in driving a bicycle system. In this papers, we suggest an algorithm for deriving steering angle and speed for a given desired tracking path. As you may see in this paper, load mass balance system plays important role in stabilization and it is also discussed. We propose a control algorithm for the autonomous self stabilization of unmanned bicycle by using nonlinear compensation-like control based on the Lyapunov stability theory We then propose a tracking control strategy by moving the center of load mass left and right respectively. From the computer simulation results, we can show the effectiveness of the proposed control strategy.

• 로봇학회논문지
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• 제1권1호
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• pp.73-80
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• 2006

Bicycle is one of convenient transportation system. In this paper, we derive a more precise kinematics of bicycle system compared with other ones which were suggested by other researchers. In the derivation of kinematics we adopted a physical concept called virtual wheel. We also propose an algorithm for deriving inverse kinematics of a bicycle system. In this paper, the meaning of inverse kinematics is to find the time functions of steering angle and driving wheel speed for a given desired path trajectory. From the computer simulation, we show the validity of our proposed algorithm for inverse kinematics of bicycle system.

• 디지털융복합연구
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• 제13권4호
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• pp.247-252
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• 2015

산업화가 가속화되면서 화석 연료의 사용이 늘어나고 있어 지구 온난화와 기상 이변 등의 문제가 발생하고 있다. 이러한 문제를 해결하기 위한 국제적인 협약이 이루어지는 등 노력은 계속되고 있으나 여전히 화석 연료의 사용은 늘고 있는 추세이다. 공공자전거는 자동차 위주의 교통 시스템이 가지고 있는 문제를 해결하고 사용자의 건강까지 챙길 수 있는 대안으로 제시되고 있다. 본 연구에서는 기존의 공공자전거가 가지고 있는 문제를 해결하고 최근의 스마트폰 사용 트렌드에 맞는 새로운 융복합 공공자전거 시스템을 제안하려고 한다. 본 연구에서 제안하는 공공자전거 시스템은 기존의 시스템에 비해 설치비가 저렴하고 운영비도 적게 드는 장점이 있다. 실제 운영사례를 통해 본 연구에서 제안한 시스템의 효용성을 증명하고자 한다.

• 제어로봇시스템학회논문지
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• 제12권9호
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• pp.850-855
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• 2006

This is concerned with the development and design of automatic maneuvering system using Differential Global Positioning System(DGPS). To achievement of autonomous maneuvering controller for giant ship, first, we investigated automatic maneuvering controller using DGPS in motor car. The sensors are configured with DGPS and digital compass. We calculated velocity and steering angle of motor car based on sensor signal. To design the controller, we derived the bicycle model and developed critically damped controller. The critically damped controller can be tracing previously appointed position in the fastest time. We are used a laptop computer to realize and the control algorithm is programmed by visual basic software. The obtained experimental results from developed system show unmanned motor car is good tracing planed positions. Hence, the system is looking forward to use the autonomous maneuvering control fur giant ship.

• 문화기술의 융합
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• 제7권2호
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• pp.377-388
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• 2021

세계적으로 공유경제 시장이 성장함에 따라 최근 국내에도 다양한 공유 서비스들이 등장하고 있다. 국내 공유 모빌리티 산업을 대표하는 서비스 중 하나인 서울시 무인 공공자전거 대여 서비스 '따릉이'는 높은 인지도와 이용률에 비해 따릉이 대여에 필수 매개체인 따릉이 모바일 어플리케이션의 사용성은 개선되지 않아 사용자의 불편함을 초래한다. 본 연구는 따릉이 주 이용자인 20~30대를 대상으로 사용성 평가 (Usability testing)와 심층 인터뷰를 진행하였다. 그 결과 따릉이 모바일 어플리케이션이 갖는 문제점을 파악하였으며, 이를 바탕으로 따릉이와 같이 공공성을 갖는 공유 모빌리티 서비스의 디자인 고려사항을 제안하였다. 이는 공유 모빌리티 서비스의 사용자 경험 향상에 기여할 것으로 기대된다.

• 로봇학회논문지
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• 제18권1호
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• pp.93-98
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• 2023

In this paper, the development of an autonomous electric vehicle for logistics with a robotic arm is introduced. The manual driving electric vehicle was converted into an electric vehicle platform capable of autonomous driving. For autonomous driving, an encoder is installed on the driving wheels, and an electronic power steering system is applied for automatic steering. The electric vehicle is equipped with a lidar sensor, a depth camera, and an ultrasonic sensor to recognize the surrounding environment, create a map, and recognize the vehicle location. The odometry was calculated using the bicycle motion model, and the map was created using the SLAM algorithm. To estimate the location of the platform based on the generated map, AMCL algorithm using Lidar was applied. A user interface was developed to create and modify a waypoint in order to move a predetermined place according to the logistics process. An A-star-based global path was generated to move to the destination, and a DWA-based local path was generated to trace the global path. The autonomous electric vehicle developed in this paper was tested and its utility was verified in a warehouse.