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다중로봇 동작조정을 위한 Simulation Software 개발
고낙용,서동진 朝鮮大學校 電子情報通信硏究所 2003 電子情報通信硏究所論文誌 Vol.6 No.2
There is research reactor sensor data acquisition and fiction, map building, obstacle avoidence, position conclusion, path planning, motion coordination etc. Need environment for an experiment with robot and working space to achieve research for robot. I porpose that simulation is critical in regard with the safty rather than uncensored experiment which can make something dangerous. In this paper, we explain development of simulation program which simulate motion coordination of multiple mobile robots. Because of the simulation program. An experiment about action is available without constructing actuality system beforehand. In addition, the simulation program can be used all for "Distributed System" and "Center concentration System".
Collision-free motion coordination of heterogeneous robots
고낙용,서동진,Reid G. Simmons 대한기계학회 2008 JOURNAL OF MECHANICAL SCIENCE AND TECHNOLOGY Vol.22 No.11
This paper proposes a method to coordinate the motion of multiple heterogeneous robots on a network. The proposed method uses prioritization and avoidance. Priority is assigned to each robot; a robot with lower priority avoids the robots of higher priority. To avoid collision with other robots, elastic force and potential field force are used. Also, the method can be applied separately to the motion planning of a part of a robot from that of the other parts of the robot. This is useful for application to the robots of the type mobile manipulator or highly redundant robots. The method is tested by simulation, and it results in smooth and adaptive coordination in an environment with multiple heterogeneous robots.
이동 로봇의 실내 환경 인식을 위한 초음파 센서 자료 분석
고낙용,임병현,김성철 조선대학교 전자정보통신연구소 2003 電子情報通信硏究所論文誌 Vol.6 No.1
For autonomous navigation of a mobile robot using landmarks, it is essential to recognize the location and configuration of surrounding objects To recognize the environment, sensors such a s ultrasonic sensors laser range finder. CCD camera, and so on have been used Among the sensors, ultrasonic sensors(sonar) are unexpensive and easy to use However, the data from untrasonic sensors inherently include noisy information In this paper we analyze the sonar data and propose a method to reduce some of the noisy information to recognize features of indoor environment. It is supposed that the environments consist of features of planes, edges, and -corners For the analysis, sonar data of plane, edge, and corner are accumulated for known models The data are filtered to eliminate some noise using the Kalman filter algorithm Then, the data for each feature are compared with model data to extract the characteristics of each feature. We demonstrate the applicability of the proposed method using the sonar data obtained form a sonar transducer rotating and scanning the range information around indoor environment
고낙용,서영태 제어로봇시스템학회 2009 제어로봇시스템학회 합동학술대회 논문집 Vol.2009 No.12
This paper describes a robot controller which uses FPGA. The purpose of the research was to integrate DSC, ARM, and FPGAs for robot controller. As a part of the research objective, this paper deals with robot controller which uses FPGA. Recently, a variety of sensors and actuators have been appeared for robot applications. Though their performance develops year by year, robot controller which utilizes those sensors and actuators often has difficulty to accommodate for their functionalities. This is due to the lack of coherent interface and performance of the controller for the robot. This paper is one of the initial research for the development high performance controller dedicated for robot control in a coherent and structural way.