• Journal of Institute of Control, Robotics and Systems
• /
• v.4 no.2
• /
• pp.226-234
• /
• 1998

The concept of dynamic tracking line is proposed as the feasible tracking region for a robot in a robot-conveyor system, which takes the conveyor speed into consideration. This paper presents an effective method to identify the dynamic tracking line in a robotic workcell. The maximum line speed of a robot is derived in an analytic form using the parameterized dynamics and kinematics of the manipulator, and some of its properties are established mathematically. The identification problem of the dynamic tracking line is then formulated as a root-solving problem for a single-variable equation, and solved by using a simple numerical technique. Finally, numerical examples are presented to demonstrate the methodology and its applications in workspace specification.

• Journal of Institute of Control, Robotics and Systems
• /
• v.4 no.3
• /
• pp.349-359
• /
• 1998

A robot control scheme for specific application a line-tracking system is newly presented. To improve the performance of line-tracking, robot arm dynamics and torque constraints are incorporated into the control scheme. The tracking problem for the workpiece on a variable-speed conveyor is formulated as an optimal tracking problem with specific criteria. Dividing the conveyor speed into the nominal term and the perturbed term, a two-stage control strategy is employed to cope with the nonlinearity and uncertainty of the robot-conveyor system. Simulation results are given to verify good tracking performance with fast cycle time and high accuracy in a robotic workcell.

• Journal of Sensor Science and Technology
• /
• v.20 no.3
• /
• pp.178-186
• /
• 2011

Line tracking is a well defined method of mobile robot navigation. It is simple in concept, technically easy to implement, and already employed in many industrial sites. Among several different line tracking methods, magnetic sensing is widely used in practice. In comparison, vision-based tracking is less popular due mainly to its sensitivity to surrounding conditions such as brightness and floor characteristics although vision is the most powerful robotic sensing capability. In this paper, a vision-based robust path line detection technique is proposed for the navigation of a mobile robot assuming uncontrollable surrounding conditions. The technique proposed has four processing steps; color space transformation, pixel-level line sensing, block-level line sensing, and robot navigation control. This technique effectively uses hue and saturation color values in the line sensing so to be insensitive to the brightness variation. Line finding in block-level makes not only the technique immune from the error of line pixel detection but also the robot control easy. The proposed technique was tested with a real mobile robot and proved its effectiveness.

• 제어로봇시스템학회:학술대회논문집
• /
• 2001.10a
• /
• pp.180.4-180
• /
• 2001

This paper describes a vision-based line-tracking system for AGV and steering control scheme. For detect the guideline quickly and exactly, We use four line-points which complement and predict each other. This low-cost line-tracking system is efficiently using PC-based real-time vision processing, Steering control is studied through an steering controller with guide-line angle and line-point error. This method is tested via a typical AGV with a single camera in laboratory environment.

• Proceedings of the IEEK Conference
• /
• 1998.10a
• /
• pp.417-420
• /
• 1998

A heuristic sweeping algorithm for an autonomous smearing robot which executes the area filling task is proposed. This algorithm searches tracking points with the obstacle andenvironment wall while the robot tracking whole workspace, and finds sequential tracking line by sequentally connecting the tracking points in such a way that (1) the line should be never crossed, (2) the total tracking points should be is linked as short as possible, and (3) the tracking link should be cross over the obstacle in the work-space. If the line pass through the obstacle, hierarchical collision free algorithm proposed is implied. The proposed algorithm consists of (1) collision detection procedure, (2) obstacle map making procedures, (3) tracking points generation procedures for subgosls, (4) tracking points scanning procedures, and (5) obstacle avoidance procedure.

• 제어로봇시스템학회:학술대회논문집
• /
• 1992.10a
• /
• pp.424-429
• /
• 1992

A practical adaptive tracking filter for a maneuvering target is proposed in this paper by combining a modified input estimation technique with pseudo-residuals and a decoupled tracking filter in line-of-sight Cartesian coordinate system. Since the adaptive tracking filter has decoupled structure and computes maneuver input estimates for each axis separately, it requires much less computations compared with the coventional tracking filter with MIE technique without degrading performance. Also, since pseudo-measurement noises in line-of-sight Cartesian coordinate system are much less correlated compared with those of inertial Cartesian coordinate system, the proposed tracking filter produces less false alarms or miss detections to improve the performance.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
• /
• 2008.10a
• /
• pp.157-160
• /
• 2008

A realization for moving object detecting and tracking system in two dimensional plane using stereo line CCDs and lighting source is presented in this paper. Instead of processing camera images directly, two line CCD sensor and input line image is used to measure two dimensional distance by comparing the brightness on line CCDs. The algorithms are used the moving object tracking and coordinate converting method. To ensure the effective detection of moving path, a detection algorithm to evaluate the reliability of each measured distance is developed. The realized system results are that the performance of moving object recognizing shows 5mm resolution and mean error is 1.89%, and enables to track a moving path of object per 100ms period.

• Journal of Software Assessment and Valuation
• /
• v.17 no.2
• /
• pp.151-159
• /
• 2021

To derive grid lines for analyzing a table layout, line image enhancement techniques are studying such as various filtering or morphology methods. In spite of line image enhancement, it is still hard to extract line components and to express table cell's layout logically in which the cutting points are exist on the line or the tables are skewing . In this paper, we proposed a line tracking algorithm to extract line components under the cutting points on the line or the skewing lines. The table document layout analysis algorithm is prepared by searching grid-lines, line crossing points and gird-cell using line tracking algorithm. Simulation results show that the proposed method derive 96.4% table document analysis result with average 0.41sec processing times.

• 제어로봇시스템학회:학술대회논문집
• /
• 1991.10a
• /
• pp.125-130
• /
• 1991

This paper presents a tracking filter using pseudomeasurements in an estimated line-of-sight Cartesian coordinate system(ELCCS) whose x-axis is on the line-of-sight to an estimated target position. A target dynamics model and a measurement equation in the ELCCS are derived first and then a tracking filter in the ELCCS named moving coordinate tracking filter(MCTF) is proposed. It is shown that this MCTF is equivalent to a Kalman filter in the inertial Cartesian coordinate system which is widely used in the target tracking system. By approximating the MCTF for a pseudomeasurement noise and an error covariance matrix in the ELCCS, decoupling of three axes can be achieved. In this case, named decoupled moving coordinate tracking filter(DMCTF), computation time can be drastically reduced by utilizing its parallel structure. Finally, the stochastic properties of the MCTF and DMCTF are presented. Especially, a sufficient condition of nondestabilizing deviation for the DMCTF is proposed. The performance of the MCTF and DMCTF are compared with a conventional Kalman tracking filter.

• International Journal of Precision Engineering and Manufacturing
• /
• v.4 no.2
• /
• pp.30-38
• /
• 2003

This paper proposed PID controller for torch slider and PD controller for motor right wheel. to control the motion of two-wheeled welding mobile robot with seam tracking sensor touched on welding line. The motion control is realized in the view of keeping constant welding velocity and precise seam tracking even though the target welding line is on straight line or curved line. The position and direction of the body of the mottle robot are controlled by using signal errors between seam tracking sensor and body positioning sensor attached on the end of torch slider and body side of the mobile robot, respectively. In turning motion, the body and the torch slider are controlled by using the kinematic model related with two motions of body turning and torch sliding. The straight locomotion is controlled according to eleven control patterns obtained from displacements between two sensors of the seam tracking sensor and the body positioning sensor. The effectiveness is proven through the experimental results fur lattice type welding line. Through the experimental results, we can see that the position value of the electrode end point and the welding velocity are controlled almost constantly both in straight and turning locomotion.