RF/초음파센서와 이동특성에 기반한 고속 이동로봇의 위치추정기법

이수성(Soosung Lee),최문규(Mungyu Choi),박재현(Jaehyun Park),이장명(Jangmyung Lee) 제어로봇시스템학회 2009 제어·로봇·시스템학회 논문지 Vol.15 No.7

A new localization algorithm is proposed for a fast moving mobile robot, which utilizes only one beacon and the global features of the differential-driving mobile robot. It takes a relatively long time to localize a mobile robot with active beacon sensors, since the distance to the beacon is measured by the traveling time of the ultrasonic signal. When the mobile robot is moving slowly, the measurement time does not yield a high error. At a higher mobile robot speed, however, the localization error becomes too large to locate the mobile robot. Therefore, in high-speed mobile robot operations, instead of using two or more active beacons for localization, only one active beacon and the global features of the mobile robot are used to localize the mobile robot in this research. The two global features are the radius and center of the rotational motion for the differential-driving mobile robot, which generally describe motion of the mobile robot and are used for the trace prediction of the mobile robot. In high speed operations, the localizer finds an intersection point of this predicted trace and a circle which is centered at the beacon and has the radius of the distance between the mobile robot and the beacon. This new approach resolves the large localization error caused by the high speed of the mobile robot. The performance of the new localization algorithm has been verified through the experiments with a high-speed mobile robot.

The Position/Orientation Determination of a Mobile-Task Robot Using an Active Calibration Scheme

Jin, Tae-Seok,Lee, Jang-Myung The Korean Society of Mechanical Engineers 2003 JOURNAL OF MECHANICAL SCIENCE AND TECHNOLOGY Vol.17 No.10

A new method of estimating the pose of a mobile-task robot is developed based upon an active calibration scheme. The utility of a mobile-task robot is widely recognized, which is formed by the serial connection of a mobile robot and a task robot. To be an efficient and precise mobile-task robot, the control uncertainties in the mobile robot should be resolved. Unless the mobile robot provides an accurate and stable base, the task robot cannot perform various tasks. For the control of the mobile robot, an absolute position sensor is necessary. However, on account of rolling and slippage of wheels on the ground, there does not exist any reliable position sensor for the mobile robot. This paper proposes an active calibration scheme to estimate the pose of a mobile robot that carries a task robot on the top. The active calibration scheme is to estimate a pose of the mobile robot using the relative position/orientation to a known object whose location, size, and shape are known a priori. For this calibration, a camera is attached on the top of the task robot to capture the images of the objects. These images are used to estimate the pose of the camera itself with respect to the known objects. Through the homogeneous transformation, the absolute position/orientation of the camera is calculated and propagated to get the pose of a mobile robot. Two types of objects are used here as samples of work-pieces: a polygonal and a cylindrical object. With these two samples, the proposed active calibration scheme is verified experimentally.

Optimal Parameter Setting of Optical Mouse based Mobile Robot Traveling Simulator

Sungbok Kim,Seyoung Choi 제어로봇시스템학회 2017 제어로봇시스템학회 국제학술대회 논문집 Vol.2017 No.10

This paper presents the optimal parameter setting of the traveling simulator of a mobile robot equipped with optical mice. Through the rotation of a traveling surface sample relative to stationary optical mice, the mobile robot traveling simulator can generate the measurements of optical mice as close as possible to the measurements of optical mice equipped on a mobile robot. For a given velocity of a mobile robot, the controllable parameters of the mobile robot traveling simulator can be changed, which include the installation distances and angles of optical mice. First, for the optimal parameter setting of the mobile robot traveling simulator, the cost function is defined as the discrepancy between the commanded and simulated measurements of optical mice, assuming that the rotational speed of a surface sample is fixed. Second, for 1 DOF and 2 DOF designs of the mobile robot traveling simulator, the optimal values of the controllable parameters of the mobile robot traveling simulator are determined by minimizing the cost function. Third, for a hybrid velocity profile of a mobile robot, simulation results of the mobile robot traveling simulator are given, to demonstrate the parameter setting and simulation capability of 2 DOF design.

2륜 이동로봇의 합리적인 하드웨어 설계 노하우 : 세그웨이를 중심으로

조정우(Joh Jung-Woo),박귀태(Park Gwi-Tae) 대한전기학회 2009 정보 및 제어 심포지엄 논문집 Vol.2009 No.5

In this paper, we discuss how to design 2-wheeled mobile robot hardwares as reasonable and practical as possible. A segway type mobile robot consists of 2 wheels only, placed in parallel rather than horizon. 2-wheeled mobile robots make you overcome high cost and time consuming maintenance procedures of the robot by reducing the number of robot hard wares. The most challenging thing in a 2-wheeled mobile robot that has many more valid virtues than the traditional mobile robots is to make it balance itself whenever it stands still or goes forward. But balancing itself is not an easy matter and there are many researches and experiments on this issue. When researchers test theories on 2-wheeled mobile robots to improve its self balancing performance, they should consider how to design hard wares of that mobile robot. No matter how great those new theories are, if a testbed for those theories is not suitable, performance output would be poor and meaningless. In this point of view, to design a proper 2-wheeled mobile robot as a testbed is a very important issue with development of new theories. So we define 4 guide lines to design segway type mobile robots reasonably; about motor, battery, and MCU selection and shock-proof design with robust motor setting.

높이 조절 및 하체 분리형 실내용 서비스 이동 로봇의 제작 및 제어

안재국(Jae Kook Ahn),정슬(Seul Jung) 大韓電子工學會 2011 電子工學會論文誌-SC (System and control) Vol.48 No.1

본 논문은 실내에서 사용할 이동로봇의 구현과 제어에 대한 것이다. 로봇은 두 팔을 가지고 이동할 수 있는 베이스로 구성된다. 로봇은 디자인에 있어 몇 가지 특징을 가진다. 첫 번째, 로봇의 허리는 높낮이 조절이 가능하다. 두 번째로 로봇은 4점 접촉인 이동로봇 모드에서 2 점 접촉인 밸런싱 모드로 전환이 가능하다. 마지막으로 로봇은 상체와 하체의 분리 기능을 갖는다. 이동 베이스 부분은 청소작업에 사용이 가능하다. This paper presents the implementation and control of a mobile manipulator robot for indoor service. The robot has two arms for tasks and a mobile base for mobility. The robot is designed to have several characteristics. Firstly, the robot has the capability of changing the height of the robot. Secondly, the robot can be changed into a balancing mode of two contact points from mobile mode of four contact points. The robot has a balancing mode like an inverted pendulum robot as well as mobile robot mode. Lastly, as a novel concept, the robot is designed to have the capability of separating into two systems, the robot arm and the mobile robot as well. The mobile base can be separately used for a cleaning service.

Visual Servoing of a Wheeled Mobile Robot with the Obstacle Avoidance based on the Nonlinear Optimization using the Modified Cost Function

김곤우(Gon-Woo Kim) 대한전기학회 2009 전기학회논문지 Vol.58 No.12

The fundamental research for the mobile robot navigation using the numerical optimization method is presented. We propose an image-based visual servo navigation algorithm for a wheeled mobile robot utilizing a ceiling mounted camera. For the image-based visual servoing, we define the composite image Jacobian which represents the relationship between the speed of wheels of a mobile robot and the robot's overall speed in the image plane. The rotational speed of wheels of a mobile robot can be directly related to the overall speed of a mobile robot in the image plane using the composite image Jacobian. We define the mobile robot navigation problem as an unconstrained optimization problem to minimize the cost function with the image error between the goal position and the position of a mobile robot. In order to avoid the obstacle, the modified cost function is proposed which is composed of the image error between the position of a mobile robot and the goal position and the distance between the position of a mobile robot and the position of the obstacle. The performance was evaluated using the simulation.

융복합기술을 활용한 G-Robot 프레임워크 구현

박영식,김도현,권성갑,양영일,Park, Young-Sik,Kim, Do-Hyun,Kwon, Sung-Gab,Yang, Yeong-Yil 한국융합신호처리학회 2010 융합신호처리학회 논문지 (JISPS) Vol.11 No.4

본 논문에서는 로봇기술(Robot Technology, RT)과 정보기술(Information Technology, IT)의 핵심 인 휴대폰을 활용한 RITS(RT&IT System) 융합기술을 이용하여 로봇제어 및 원격감시를 수행하는 G-Robot의 프레임웍을 설계하고 구현하였다. 구현된 시스템에서 로봇에 장착된 휴대폰은 로봇을 제어하는데 활용할 뿐만 아니라 사용자의 휴대폰으로 영상정보를 전송한다. 사용자는 휴대폰을 활용하여 로봇의 주변지역을 감시하고 로봇의 움직임을 제어한다. 뿐만 아니라, 미리 설정된 상황이 발생했을 경우, 휴대폰이 합체된 로봇은 사용자의 휴대폰으로 데이터를 전송한다. 실험결과, 3세대 이동통신이 가능한 지역에서 휴대폰을 이용하여 실시간으로 로봇을 제어하였고, 로봇의 주변 환경을 감시 할 수 있었다. 또한 시야에서 관찰되는 영역에 로봇 있을 경우 휴대폰 대신 블루투스를 이용하여 실시간으로 로봇을 제어할 수 있었다. In this paper, we propose G-Robot framework implemented with the fusion technology called RITS(Robot Technology & Information Technology System) for robot control and remote monitoring using the mobile phone. In our implemented system, the mobile phone mounted on the robot controls the robot and sends the images to the mobile phone of the user. We can monitor surrounding area of the robot with mobile phone and control the movement of the robot by sending the data between mobile-phones. Also, if the predefined situation occurs to the robot, the mobile phone on the robot sends the data to the mobile-phone of the user. From the experimental result, we can conclude that it's possible to control the robot and monitor surrounding area of the robot in real time in the region where the 3G(Generation) communication is possible. In addition, we can control the robot using the bluetooth instead of the mobile phone communication if the robot is in visual range.

Utilization of Mobile Robot at Interaction Systems for At-HomeWorkouts: Provision of Autonomous Mobility in Indoor Environments

Samyeul Noh,Jiyoung Park 제어로봇시스템학회 2019 제어로봇시스템학회 국제학술대회 논문집 Vol.2019 No.10

Many interaction systems for at-home workouts have had much difficulty in mobility due to the fixed location of a vision sensor. In this paper, we present the utilization of a mobile robot that navigates autonomously to improve an interaction system’s mobility. The mobile robot is implemented in an open-source robot operating system called ROS to take advantage of open-source packages associated with autonomous navigation. To perform autonomous navigation and provide mobility to the system, it comprises six components: mapping, localization, occupancy grid map, global path planning, local path planning, and ROS communication. The mapping component builds a global map by simultaneous localization and mapping. The localization component estimates the mobile robot’s pose within the global map by the adaptive Monte Carlo localization approach. The occupancy grid map component builds a local map for nearby surroundings including dynamic objects. The global path planning component optimizes a route to reach a given target pose. The local path planning component generates a trajectory to reach a local goal while conducting collision avoidance and then produces control commands to follow the trajectory. Last, the ROS communication component connects the mobile robot with the system. To verify the feasibility of the system’s mobility, we have tested autonomous navigation capability for the mobile robot at the laboratory level in indoor environments.

A Unified Approach of Denavit-Hartenberg Representation to Kinematics Equations of Two-wheel Mobile Robots for UndergraduateRobotics Education

Seul Jung,Yeong-geol Bae,JeongHyeong Lee,Hyungjik Lee,Hyun Wook Kim 제어로봇시스템학회 2020 제어로봇시스템학회 국제학술대회 논문집 Vol.2020 No.10

A two-wheel mobile robot is a kind of balancing system of which two-wheel torques control the balancing angle as well as the position of the robot. The robot is a combined system of a wheeled mobile robot and an inverted pendulum, which is a non-holonomic and under-actuated system. The robot is constrained in kinematics and driven by two-wheels. The kinematics equations of two-wheel mobile robots are derived from Denavit-Hartenberg (D-H) parameters for drawing the robot postures for an effective undergraduate robotics education, which are used for the derivation of the kinematics of serial robot manipulators. Assuming the wheel movement as a linear joint motion and the heading angle as a revolute joint motion, the kinematics of the two-wheel mobile robots can be derived from the D-H configuration to draw the robot postures.

로봇공학 교육에서 이동 로봇팔의 기구학 유도를 위한 Denavit-Hartenberg 변수 기준의 단일 접근법에 대한 튜토리얼

정슬(Seul Jung) 제어로봇시스템학회 2021 제어·로봇·시스템학회 논문지 Vol.27 No.5

This paper presents a unified approach to obtain the kinematics of mobile robot manipulators by using the D–H (Denavit–Hartenberg) representation. The D–H method is simple and systematic, meaning that it can be programmed easily. To apply the D–H method to mobile robots, several assumptions are made, for example, the robots are considered linearly actuated, and the heading angle is the first rotation of the robot. The kinematic equations of different mobile robot configurations such as WMR (Wheeled Mobile Robots), two-wheeled mobile robots, and two-wheeled mobile robots with arms are obtained using the proposed D–H method. Finally, the D–H method is applied to a real service robot called KOBOKER and an omnidirectional mobile manipulator to obtain their kinematic equations and the corresponding simulation studies of robot postures are performed to validate the proposed method.