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REFERENCE LINKING PLATFORM OF KOREA S&T JOURNALS
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Journal of Institute of Control, Robotics and Systems
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Journal DOI :
Institute of Control, Robotics and Systems
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Volume & Issues
Volume 7, Issue 12 - Dec 2001
Volume 7, Issue 11 - Nov 2001
Volume 7, Issue 10 - Oct 2001
Volume 7, Issue 9 - Sep 2001
Volume 7, Issue 8 - Aug 2001
Volume 7, Issue 7 - Jul 2001
Volume 7, Issue 6 - Jun 2001
Volume 7, Issue 5 - May 2001
Volume 7, Issue 4 - Apr 2001
Volume 7, Issue 3 - Mar 2001
Volume 7, Issue 2 - Feb 2001
Volume 7, Issue 1 - Jan 2001
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Backward Path Tracking Control of a Trailer Type Robot Using a RCGS-Based Model
Wi, Yong-Uk ; Kim, Heon-Hui ; Ha, Yun-Su ; Jin, Gang-Gyu ;
Journal of Institute of Control, Robotics and Systems, volume 7, issue 9, 2001, Pages 717~722
This paper presents a methodology on the backward path tracking control of a trailer type robot which consists of two parts: a tractor and a trailer. It is difficult to control the motion of a trailer vehicle since its dynamics is non-holonomic. Therefore, in this paper, the modeling and parameter estimation of the system using a real-coded genetic algorithm(RCGA) is proposed and a backward path tracking control algorithm is then obtained based on the linearized model. Experimental results verify the effectiveness of the proposed method.
A Path-Tracking Control of Optically Guided AGV Using Neurofuzzy Approach
Im, Il-Seon ; Heo, Uk-Yeol ;
Journal of Institute of Control, Robotics and Systems, volume 7, issue 9, 2001, Pages 723~732
In this paper, the neurofuzzy controller of optically guided AGV is proposed to improve the path-tracking performance A differential steered AGV has front-side and rear-side optical sensors, which can identify the guiding path. Due to the discontinuity of measured data in optical sensors, optically guided AGVs break away easily from the guiding path and path-tracking performance is being degraded. Whenever the On/Off signals in the optical sensors are generated discontinuously, the motion errors can be measured and updated. After sensing, the variation of motion errors can be estimated continuously by the dead reckoning method according to left/right wheel angular velocity. We define the estimated contour error as the sum of the measured contour in the sensing error and the estimated variation of contour error after sensing. The neurofuzzy system consists of incorporating fuzzy controller and neural network. The center and width of fuzzy membership functions are adaptively adjusted by back-propagation learning to minimize th estimated contour error. The proposed control system can be compared with the traditional fuzzy control and decision system in their network structure and learning ability. The proposed control strategy is experience through simulated model to check the performance.
Monitoring Robot System with RF and Network Communication
Kim, Dong-Hwan ; Jeong, Gi-Beom ; Hong, Yeong-Ho ;
Journal of Institute of Control, Robotics and Systems, volume 7, issue 9, 2001, Pages 733~740
A monitoring robot capable of doing network and RF communication is introduced. The robot has several features that poses arbitrary position thanks to a mechanism combining the 4wheel drive and 4 link mechanism, transmits an image and command data via RF wireless communication. Moreover, the image data from the camera are transferred through a network communication. The robot plays a role in monitoring what is happening around the robot, and covers wide range due to a moving camera associated with the 4 arms. The robot can adjust its mass center by the 4 link mechanism, hence it guarantees a stability in moving on the slope.
Tracking and Capturing a Moving Object Using Active Camera Mounted on a Mobile Robot
Park, Jin-U ; Park, Jae-Han ; Yun, Gyeong-Sik ; Lee, Jang-Myeong ;
Journal of Institute of Control, Robotics and Systems, volume 7, issue 9, 2001, Pages 741~748
In this paper, we propose a method of tracking and capturing a moving object by a mobile robot. The position of the moving object is acquired from the relation through color-based image information from a 2-DOF active camera mounted on the mobile robot. The direction and rotational angular velocity of the moving object are estimated using a state estimator. A Kalman fiber is used as the state estimator for taking characteristics of robustness against noises and uncertainties included in the input data. After estimating the trajectory of the moving object, we decide on the optimal trajectory and plan the motion of the mobile robot to capture the target object within the shortest distance and time. The effectiveness of the proposed method is demonstrated by the simulations and experiments.
Color Landmark Based Self-Localization for Indoor Mobile Robots
Yoon, Kuk-Jin ; Jang, Gi-Jeong ; Kim, Sung-Ho ; Kweon, In-So ;
Journal of Institute of Control, Robotics and Systems, volume 7, issue 9, 2001, Pages 749~757
We present a simple artificial landmark model and robust landmark tracking algorithm for mobile robot localization. The landmark model, consisting of symmetric and repetitive color patches, produces color histograms that are invariant under the geometric and photometric distortions. A stochastic approach based on the CONDENSATION tracks the landmark model robustly even under the varying illumination conditions. After the landmark detection, relative position of the mobile robot to the landmark is calculated. Experimental results show that the proposed landmark model is effective and can be detected and tracked in a clustered scene robustly. With the tracked single landmark, we extract geometrical information than achieve accurate localization.
Automatic Extraction of Stable Visual Landmarks for a Mobile Robot under Uncertainty
Moon, In-Hyuk ;
Journal of Institute of Control, Robotics and Systems, volume 7, issue 9, 2001, Pages 758~765
This paper proposes a method to automatically extract stable visual landmarks from sensory data. Given a 2D occupancy map, a mobile robot first extracts vertical line features which are distinct and on vertical planar surfaces, because they are expected to be observed reliably from various viewpoints. Since the feature information such as position and length includes uncertainty due to errors of vision and motion, the robot then reduces the uncertainty by matching the planar surface containing the features to the map. As a result, the robot obtains modeled stable visual landmarks from extracted features. This extraction process is performed on-line to adapt to an actual changes of lighting and scene depending on the robot’s view. Experimental results in various real scenes show the validity of the proposed method.
Kinematic Modeling and Analysis of Omni-Directional Mobile Robots with Redundant Actuation
Yi, Byung-Ju ; Kim, Wheekuk ; Yang, Seong-Il ;
Journal of Institute of Control, Robotics and Systems, volume 7, issue 9, 2001, Pages 766~773
Omni-directional mobile robots have been popularly employed in several application areas. However, the kinematics for these systems have not been clearly identified, specially for redundantly actuated case which is common in omni-directional mobile robot such as the Nomadic model. For such mobile robot systems, exploitation of redundant actuation as well as singularity analysis has not been extensively addressed. In light of this fact, this paper introduces two different kinematic approaches for omni-directional mobile robots. Then, a singular-free load distribution scheme for redundantly actuated three-wheeled omni-directional mobile robot is proposed. Through simulation, several advantages of redundantly actuated mobile robot in aspect of singularity avoidance, minimization of torque norm, and exploiting several subtasks are presented.
Implementation of Hybrid System Controller for High-Speed Indoor Navigation of Mobile Robot System Using the Ultra-Sonic Sensors
Im, Mi-Seop ; Im, Jun-Hong ; O, Sang-Rok ; Yu, Beom-Jae ; Yun, In-Sik ;
Journal of Institute of Control, Robotics and Systems, volume 7, issue 9, 2001, Pages 774~782
In this paper, we propose a new approach to the autonomous and high-speed indoor navigation of wheeled mobile robots using hybrid system controller. The hierarchical structure of hybrid system presented consists of high-level reasoning process and the low-level motion control process and the environmental interaction. In a discrete event system, the discrete states are defined by the user-defined constraints and the reference motion commands are specified in the abstracted motions. The hybrid control system applied for the nonholonomic mobile robots can combine the motion planning and autonomous navigation with obstacle avoidance in the indoor navigation problem. For the evaluation of the proposed algorithm, the algorithm is implemented to the two-wheel driven mobile robot system. The experimental results show that the hybrid system approach is an effective method for the autonomous navigation in indoor environments.
Line Segments Map Building Using Sonar for Mobile Robot
Hong, Hyeon-Ju ; Gwon, Seok-Geun ; No, Yeong-Sik ;
Journal of Institute of Control, Robotics and Systems, volume 7, issue 9, 2001, Pages 783~789
The purpose of this study is to build and to manage environment models with line segments from the sonar range data on obstacles in unknown and varied environments. The proposed method subsequently employs a two-stage data-transform process in order to extract environmental line segments from the range data on obstacles. In the first stage, the occupancy grid extracted from the range data is accumulated to a two-dimensional local histogram grid. In the second stage, a line histogram extracted from an local histogram gird is based on a Hough transform, and matching is a process of comparing each of the segments in the global line segments map against the line segments to detect similarity in overlap, orientation, and arrangement. Each of these tests is made by comparing one of the parameters in the segment representation. After the tests, new line segments are composed to the global line segments map. The proposed technique is illustrated by experiments in an indoor environment.
Depth Estimation Through the Projection of Rotating Mirror Image unto Mono-camera
Kim, Hyeong-Seok ; Song, Jae-Hong ; Han, Hu-Seok ;
Journal of Institute of Control, Robotics and Systems, volume 7, issue 9, 2001, Pages 790~797
A simple computer vision technology to measure the middle-ranged depth with a mono camera and a plain mirror is proposed. The proposed system is structured with the rotating mirror in front of the fixed mono camera. In contrast to the previous stereo vision system in which the disparity of the closer object is larger than that of the distant object, the pixel movement caused by the rotating mirror is bigger for the pixels of the distant object in the proposed system. Being inspired by such distinguished feature in the proposed system, the principle of the depth measurement based on the relation of the pixel movement and the distance of object is investigated. Also, the factors to influence the precision of the measurement are analysed. The benefits of the proposed system are low price and less chance of occlusion. The robustness for practical usage is an additional benefit of the proposed vision system.