• International Journal of Fuzzy Logic and Intelligent Systems
• /
• v.11 no.1
• /
• pp.49-53
• /
• 2011

Path following of the mobile robot is one research hot for the mobile robot navigation. For the control system of the wheeled mobile robot(WMR) being in nonhonolomic system and the complex relations among the control parameters, it is difficult to solve the problem based on traditional mathematics model. In this paper, we presents a simple and effective way of implementing an adaptive following controller based on the PID for mobile robot path following. The method uses a non-linear model of mobile robot kinematics and thus allows an accurate prediction of the future trajectories. The proposed controller has a parallel structure that consists of PID controller with a fixed gain. The control law is constructed on the basis of Lyapunov stability theory. Computer simulation for a differentially driven nonholonomic mobile robot is carried out in the velocity and orientation tracking control of the nonholonomic WMR. The simulation results of wheel type mobile robot platform are given to show the effectiveness of the proposed algorithm.

• Proceedings of the Korean Society of Machine Tool Engineers Conference
• /
• 1997.10a
• /
• pp.82-87
• /
• 1997

This paper presents a new approach to the design of cruise control system of a mobile robot with two drive wheel. The proposed control scheme uses a Gaussian function as a unit function in the fuzzy-neural network, and back propagation algorithm to train the fuzzy-neural network controller in the framework of the specialized learning architecture. It is proposed a learning controller consisting of two neural network-fuzzy based on independent reasoning and a connection net with fixed weights to simply the neural networks-fuzzy. The performance of the proposed controller is shown by performing the computer simulation for trajectory tracking of the speed and azimuth of a mobile robot driven by two independent wheels.

• Transactions of the Korean Society of Machine Tool Engineers
• /
• v.11 no.4
• /
• pp.62-67
• /
• 2002

This paper presents a new approach to the design of cruise control system of a mobile robot with two drive wheel. The proposed control scheme uses a Gaussian function as a unit function in the fuzzy-neural network and back propagation algorithm to train the fuzzy-neural network controller in the framework of the specialized loaming architecture. It is Proposed a learning controller consisting of two neural network-fuzzy based on independent reasoning and a connection net with fixed weights to simply the neural networks-fuzzy. The performance of the proposed controller is shown by performing the computer simulation for trajectory tucking of the speed and azimuth of a mobile robot driven by two independent wheels.

• 제어로봇시스템학회:학술대회논문집
• /
• 2002.10a
• /
• pp.38.1-38
• /
• 2002

In steel works, Locomotives and torpedo ladle cars are used to convey the smelted iron that comes out Blast Furnace to the mill making mill. In this process, Identification of the vehicles position is very important because the area is broad and efficient operation affects a productivity and investment. At present condition, there are many ways to use to identify the vehicles number and position. This paper will present the new ways using GPS/DR based method. For this, we practiced the site test to gather the real data. First, we collect the velocity data at the wheel of the vehicles with the direction data via process computer. Second, after installing the gyroscope we gathered the data wit...

• Proceedings of the Korean Society of Machine Tool Engineers Conference
• /
• 2001.04a
• /
• pp.250-254
• /
• 2001

This paper presents a new approach to the design of cruise control system of a mobile robot with two drive wheel. The proposed control scheme uses a Gaussian function as a unit function in the fuzzy-neural network, and back propagation algorithm to train the fuzzy-neural network controller in the framework of the specialized learning architecture. It is proposed a learning controller consisting of two neural network-fuzzy based on independent reasoning and a connection net with fixed weights to simply the neural networks-fuzzy. The performance of the proposed controller is shown by performing the computer simulation for trajectory tracking of the speed and azimuth of a mobile robot driven by two independent wheels.

• Proceedings of the IEEK Conference
• /
• 1999.11a
• /
• pp.629-632
• /
• 1999

In this paper, color coordinate system transformation based visual servo controller has been considered. Mobile robot always has a position error and an orientation error resulted from wheel slipping etc.. Even more, the errors have accumulative properties. So feedback from environments is important. In this paper, by using color model faster land mark extraction can be achieved. And the global position and the orientation of mobile robot can be known by only two land marks positions in image coordinate system. Finally, the adoption of visual information in path tracking problem makes visual servo control.

• Proceedings of the Korea Concrete Institute Conference
• /
• 1996.04a
• /
• pp.225-231
• /
• 1996

The dense graded asphalt concrete materials have been used for construction of pavement for a long time. The performance of asphalt concrete pavement, however, is influenced by various factors including high temperature and heavy axle loads which cause plastic deformation. The plastic deformation is one of the main functional disadvantages of flexble pavement. In this study, the semi-rigid pavement is considered to solve the problem. A set of experimental evaluation on semi-rigid pavement material has been coducted in laboratory to obtain it's physical properties and serviceabilities. The results of tests, including compressive strength, flexural strength, ravelling and wheel tracking, show that the semi-rigid pavement has a good mechanical properties and serviceabilities. Consequently, the semi-rigid pavement may be suitable to bridge deck, tunnel, slow lane and parking area pavements.

• Proceedings of the Korean Society of Machine Tool Engineers Conference
• /
• 2000.04a
• /
• pp.199-203
• /
• 2000

This paper presents a new approach to the design of cruise control system of a mobile robot with two drive wheel. The proposed control scheme uses a Gaussian function as a unit function in the fuzzy-neural network, and back propagation algorithm to train the fuzzy-neural network controller in the framework of the specialized learning architecture. It is proposed a learning controller consisting of two neural network-fuzzy based on independent reasoning and a connection net with fixed weights to simply the neural networks-fuzzy. The performance of the proposed controller is shown by performing the computer simulation for trajectory tracking of the speed and azimuth of a mobile robot driven by two independent wheels.

• Proceedings of the Korean Society of Machine Tool Engineers Conference
• /
• 2000.10a
• /
• pp.130-134
• /
• 2000

This paper presents a new approach to the design of cruise control system of a mobile robot with two drive wheel. The proposed control scheme uses a Gaussian function as a unit function in the fuzzy-neural network, and back propagation algorithm to train the fuzzy-neural network controller in the framework of the specialized learning architecture. It is proposed a learning controller consisting of two neural network-fuzzy based on independent reasoning and a connection net with fixed weights to simply the neural networks-fuzzy. The performance of the proposed controller is shown by performing the computer simulation for trajectory tracking of the speed and azimuth of a mobile robot driven by two independent wheels.

• Proceedings of the Korean Institute of Building Construction Conference
• /
• 2006.05a
• /
• pp.43-46
• /
• 2006

In this study on the appliable Asphalt sheet of monolithic and inorganic matter waterproofing material using of field because of problem of complex waterproofing sheet. Before this cement polymer modified waterproof coating and appliable asphalt sheet of monolithic whether have stability by method of construction about all style waterproofing that evaluate to new method of construction development naturally big emphasis put and try to approach. Did performance test item first at, as a result, drew by suitable thing in all KS items. This is considered to have more effective spot construction work because if means that have stability by material as well as method of construction.