• The Transactions of the Korean Institute of Electrical Engineers D
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• v.50 no.3
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• pp.143-148
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• 2001

A lot of robot trajectory tracking methods are proposed to enhance the tracking error, but irregular tracking errors are always accompanied and very hard to reduce it. Up to now, these irregular tracking errors are reduced by introducing more complicated control algorithms. But, it is intuitively obvious to reduce only the big errors selectively in the irregular ones for the better performance instead of using more complicated control algorithms. By the characteristics of the robot, big tracking errors of the end-effector are generated mostly due to the fast moving of joint. So, in this paper, we introduce a new method which reduce the big tracking errors by clippings the joint velocity with the constraint of given path. Using this method, desired trajectory tracking is obtained within the far reduced error bound. Also, this method is successfully applied to generate the path-constrained error reducing trajectories for 2-axis SCARA type robot.

• Proceedings of the KIEE Conference
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• 1995.07b
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• pp.843-845
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• 1995

There are a variety of trajectory and control algorithms available for robot trajectory tracking. Before using the enhanced trajectory and control algorithms to reduce the tracking error, we introduce the new method which reduces the tracking error by clipping the joint velocity. A lot of robot trajectory tracking methods are proposed to enhance the robot tracking, but irregular tracking errors are always accompanied. Up to now, these irregular tracking errors are gradually but uniformly reduced by introducing more complicated control algorithms. It is intuitively obvious to reduce only the big errors selectively in the irregular ones for the better performance. By heuristic method, big tracking errors in these irregular ones are assumed mostly due to the fast moving of joint with respect to the same tracking and control method. So, in this paper, we introduce a new method which reduce the big tracking errors by clippings the joint velocity with the constraint of given path. Using this method, desired trajectory tracking is obtained within the far reduced error bound. Also, this method is successfully applied to generate the path-constrained error reducing trajectories for 2-axis SCARA type robot.

• The Journal of Korea Robotics Society
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• v.17 no.2
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• pp.142-151
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• 2022

With the advent of the 4th industrial revolution, autonomous driving technology is being commercialized in various industries. However, research on autonomous driving so far has focused on platforms with wheel-type platform. Research on a tracked platform is at a relatively inadequate step. Since the tracked platform has a different driving and steering method from the wheel-type platform, the existing research cannot be applied as it is. Therefore, a path-tracking algorithm suitable for a tracked platform is required. In this paper, we studied a path-tracking algorithm for a tracked platform based on a GPS sensor. The existing Pure Pursuit algorithm was applied in consideration of the characteristics of the tracked platform. And to compensate for "Cutting Corner", which is a disadvantage of the existing Pure Pursuit algorithm, an algorithm that changes the LAD according to the curvature of the path was developed. In the existing pure pursuit algorithm that used a tracked platform to drive a path including a right-angle turn, the RMS path error in the straight section was 0.1034 m and the RMS error in the turning section was measured to be 0.2787 m. On the other hand, in the variable LAD algorithm, the RMS path error in the straight section was 0.0987 m, and the RMS path error in the turning section was measured to be 0.1396 m. In the turning section, the RMS path error was reduced by 48.8971%. The validity of the algorithm was verified by measuring the path error by tracking the path using a tracked robot platform.

• International Journal of Aeronautical and Space Sciences
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• v.16 no.1
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• pp.102-109
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• 2015

In Korea, Lunar exploration program has been prepared with the aim of launching in the 2020's. As a part of it, a lunar lander demonstrator was developed, which was the model for verifying the system such as structure, propulsion, and control system, before launching into the deep space. This paper deals with the path tracking performance of the lunar lander demonstrator with respect to the thruster controller based on Pulse Width Pulse Frequency Modulator (PWPFM) and Pulse Width Modulator (PWM). First, we derived equations of motion, considering the allocation of the thrusters, and designed the path tracking controller based on Euler angle. The signal generated from the path tracking controller is continuous, so PWPFM and PWM modulator are adopted for generating ON/OFF signal. Finally, MATLAB simulation is performed for evaluating the path tracking ability. We compared the path tracking performances of PWPFM and PWM based thrust controller, using performance measures such as the total impulse and the position error with respect to the desired path.

• The Journal of Korea Robotics Society
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• v.16 no.3
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• pp.250-259
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• 2021

Path planning is one of the important technologies for automated parking. It requires to plan a collision-free path considering the vehicle's kinematic constraints such as minimum turning radius or steering velocity. In a complex parking lot, Rapidly-exploring Random Tree^* (RRT^*) can be used for planning a parking path, and Reeds-Shepp or Hybrid Curvature can be applied as a tree-extension method to consider the vehicle's constraints. In this case, each of these methods may affect the computation time of planning the parking path, path-tracking error, and parking success rate. Therefore, in this study, we conduct comparative analysis of two tree-extension functions: Reeds-Shepp (RS) and Hybrid Curvature (HC), and show that HC is a more appropriate tree-extension function for parking path planning. The differences between the two functions are introduced, and their performances are compared by applying them with RRT^*. They are tested at various parking scenarios in simulation, and their advantages and disadvantages are discussed by computation time, cross-track error while tracking the path, parking success rate, and alignment error at the target parking spot. These results show that HC generates the parking path that an autonomous vehicle can track without collisions and HC allows the vehicle to park with lower alignment error than those of RS.

• Journal of the Korean Society for Precision Engineering
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• v.25 no.10
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• pp.58-66
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• 2008

In the development of intelligent vehicles, path tracking of unmanned vehicle is a basis of autonomous driving and automatic navigation. It is very important to find the exact position of a vehicle for the path tracking, and it is possible to get the position information from GPS. However the information of GPS is not the current position but the past position because a vehicle is moving and GPS has a time delay. In this paper, therefore, the moving distance of a vehicle is estimated using a direction sensor and a velocity sensor to compensate the position error of GPS. In the steering control, optimal fuzzy rules for the path tracking can be found through the simulation of Simulink. Real driving experiments show the fuzzy rules are good for the steering control and the position error of GPS is well compensated by the proposed estimation method.

• Journal of the Korean Institute of Intelligent Systems
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• v.22 no.2
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• pp.225-231
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• 2012

In this paper, we propose a method for designing the path tracking controller using an approach angle concept for an underactuated autonomous underwater vehicle (AUV). The AUV is controlled by the surge speed and yaw rate: there is no side thruster. To solve this underactuated AUV problem in the path tracking, we introduce an approach angle concept which makes the AUV converge to the reference path. And we design the path tracking controller using the proposed approach angle. To design the path tracking controller, we obtain the new vehicle's error dynamics in the body-fixed frame, and then design the path tracking controller based on Lypunov direct method. Finally, some simulation results demonstrate the effectiveness of the proposed controller.

• Current Optics and Photonics
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• v.3 no.3
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• pp.210-214
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• 2019

The allowable path-deviation time of aircraft in a free-space optical communication system has been estimated from various trajectories, using different values of aircraft speeds and turn rates. We assumed the existence of a link between the aircraft and a ground base station. First, the transmitter beam's divergence angle was calculated through two different approaches, one based on a simple optical-link equation, and the other based on an attenuation coefficient. From the calculations, the discrepancy between the two approaches was negligible when the link distance was approximately 110 km, and was under 5% when the link distance ranged from 80 to 140 km. Subsequently, the allowable path-deviation time of the aircraft within the tracking-error tolerance of the system was estimated, using different aircraft speeds, turn rates, and link distances. The results indicated that the allowable path-deviation time was primarily determined by the aircraft's speed and turn rate. For example, the allowable path-deviation time was estimated to be ~3.5 s for an aircraft speed of 166.68 km/h, a turn rate of $90^{\circ}/min$, and a link distance of 100 km. Furthermore, for a constant aircraft speed and turn rate, the path-deviation time was observed to be almost unchanged when the link distance ranged from 80 to 140 km.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.63 no.1
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• pp.132-138
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• 2014

The use of AGVs(Automated Guided Vehicles) are increasing in many factories. The most widely used AGV system is that magnetic tapes are attached on the factory floor to make guided path and an AGV equipped with a magnetic sensor follows the path by sensing magnetic flux. In this AGV system, usually a magnetic sensor is attached on the front end of an AGV to detect the guided path and the sensor generates analog voltages proportional to the magnetic flux. The problem is that the AGV in use has rather big tracking errors because the accurate orientation of the AGV can not be detected by using only one magnetic sensor. In this paper, we propose a method to minimize the path tracking errors. In our method, one additional sensor is attached on the rear end of the AGV to estimate the orientation of the AGV and to control more accurately the AGV according to the estimated orientation of the AGV. We performed several experiments and the results successfully show the feasibility of the proposed method.

• Journal of Korea Multimedia Society
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• v.11 no.3
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• pp.281-291
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• 2008

In this paper, we propose a new double talk detection algorithm which detects near end signals with less degradation, tracking echo path variation of echo canceler simultaneously. Our method makes use of a cross-correlation between channel input signals and estimated error signals and a normalized cross-correlation between microphone input signals and estimated error signals. By combing thresholds for these cross-correlations pertinently, this algorithm discriminates between variation of echo path and occurrence of double talk. These two cross-correlation are used to detect double talk periods, tracking echo path variation. During the detection period, adjustive adaptive filter is ceased to prevent the echo canceler from being disturbed by near end signals. Also, the echo canceler will still be kept on for tracking any variation in echo path. Through computer simulation results, it was confirmed that the proposed algorithm shows better performance, tracking echo path variation and detecting the double talk periods, than the Ye et. al's and the NLMS algorithms from ERLE viewpoint.