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Decentralized Supervision for the Cooperation of Heterogeneous Field Robots in an Orchard
Chanyoung Ju,Hyoung Il Son 제어로봇시스템학회 2021 제어로봇시스템학회 국제학술대회 논문집 Vol.2021 No.10
field robot systems are large-scale and dynamic. The use of such robot systems for system modeling and controller design is challenging, but these systems are being actively studied in various research fields. In this study, we model a heterogeneous field robot system based on hybrid automata for the cooperation of heterogeneous field robots. We also propose a decentralized supervisory control architecture for the modular control of the field robots. The performance of heterogenous robots in our proposed system is more efficient and systematic than that of classical control methods for managing heterogeneous systems. Furthermore, we identify that it is possible to analyze not only the continuous-time dynamics of the system but also the discrete-event dynamics. To evaluate the proposed system, experiments were conducted using a physics-based simulator. The experimental results indicated that our decentralized supervisory control system realized the cooperation of heterogeneous field robots based on the designed constraints.
A Time Synchronized Multi-robot Coverage Algorithm for Unstructured Environment
Tae-Shin Kim,Young-Ho Lee,Jong-Koo Park,Tae-Yong Kuc,Sang-Hoon Ji,Sang-Moo Lee,Yong-Sun Moon 제어로봇시스템학회 2014 제어로봇시스템학회 국제학술대회 논문집 Vol.2014 No.10
This paper considers a design problem for time synchronized coverage control of cooperative mobile robots. The derived algorithm provides a coverage control which not only considers the mobility characteristic of each mobile robot for task allocation but generates robot velocity profile for synchronized coverage completion within the constrained time. Since the environment for robot coverage work is modeled as a set of locations to visit by robots, the derived coverage algorithm and its control method are equally well suited to an unstructured working environment as to the structured work space. In determining the number of locations for each robot to visit during coverage operation, a time index derived from the minimum time velocity profile is used for the comparison of robot performance. Once the set of locations has been determined for each robot, the corresponding path tree and velocity profile are generated for synchronized execution of coverage work. The completeness of synchronized group coverage within the constrained time is proven through simulation for a group of mobile robots with different motor characteristics. An additional consideration by the derived coverage controller is collision avoidance of mobile robots in a crowded environment with the aid of finite potential function approach.
각인각색, 각봇각색: ABOT 속성과 소비자 감성 기반 소셜로봇 디자인평가 모형 개발
하상집(Sangjip Ha),이준식(Junsik Lee),유인진(In-Jin Yoo),박도형(Do-Hyung Park) 한국지능정보시스템학회 2021 지능정보연구 Vol.27 No.2
Tosolve complex and diverse social problems and ensure the quality of life of individuals, social robots that can interact with humans are attracting attention. In the past, robots were recognized as beings that provide labor force as they put into industrial sites on behalf of humans. However, the concept of todays robot has been extended to social robots that coexist with humans and enable social interaction with the advent of Smart technology, which is considered an important driver in most industries. Specifically, there are service robots that respond to customers, the robots that have the purpose of edutainment, and the emotionalrobots that can interact with humans intimately. However, popularization of robots is not felt despite the current information environment in the modern ICT service environment and the 4th industrial revolution. Considering social interaction with users which is an important function of social robots, not only the technology of the robots but also other factors should be considered. The design elements of the robot are more important than other factors tomake consumers purchase essentially a social robot. In fact, existing studies on social robots are at the level of proposing robot development methodology or testing the effects provided by social robots to users in pieces. On the other hand, consumer emotions felt from the robots appearance has an important influence in the process of forming users perception, reasoning, evaluation and expectation. Furthermore, it can affect attitude toward robots and good feeling and performance reasoning, etc. Therefore, this study aims to verify the effect of appearance of social robot and consumer emotions on consumers attitude toward social robot. At this time, a social robot design evaluation model is constructed by combining heterogeneous data from different sources. Specifically, the three quantitative indicator data for the appearance of social robots from the ABOT Database is included in the model. The consumer emotions of social robot design has been collected through (1) the existing design evaluation literature and (2) online buzzsuch as product reviews and blogs, (3) qualitative interviews for social robot design. Later, we collected the score of consumer emotions and attitudes toward various social robots through a large-scale consumer survey. First, we have derived the six major dimensions of consumer emotions for 23 pieces of detailed emotions through dimension reduction methodology. Then, statistical analysis was performed to verify the effect of derived consumer emotionson attitude toward social robots. Finally, the moderated regression analysis was performed to verify the effect of quantitatively collected indicators of social robot appearance on the relationship between consumer emotions and attitudes toward social robots. Interestingly, several significant moderation effects were identified, these effects are visualized with two-way interaction effect to interpret them from multidisciplinary perspectives. This study has theoretical contributions from the perspective of empirically verifying all stages from technical properties to consumers emotion and attitudes toward social robots by linking the data from heterogeneous sources. It has practical significance that the result helps to develop the design guidelines based on consumer emotions in the design stage of social robot development.
Heterogeneous-ants-based Path Planner for Global Path Planning of Mobile Robot Applications
이준우 제어·로봇·시스템학회 2017 International Journal of Control, Automation, and Vol.15 No.4
Mobile robots can be applied to a wide range of problems, and the demand for these applications hasrisen in recent years, increasing interest in the study of mobile robotics. Many studies have examined the pathplanning problem, one of the most important issues in mobile robotics. However, the grid paths found by traditionalplanners are often not the true shortest paths or are not smooth because their potential headings are artificiallyconstrained to multiples of 45 degrees. These paths are unfit for application to mobile robots because the highnumber of heading changes increases the energy required to move the mobile robot. Some studies have proposed apost-processing step to smooth the grid path. However, in this case, the post-smoothed path may not necessarily findthe true shortest path because the post-smoothed path is still constrained to headings of multiples of 45 degrees. Thisstudy attempts to develop a global path planner that can directly find an optimal and smoother path without postprocessingto smooth the path. We propose a heterogeneous-ants-based path planner (HAB-PP) as a global pathplanner to overcome the shortcomings mentioned above. The HAB-PP was created by modifying and optimizingthe global path planning procedure from the ant colony optimization (ACO) algorithm. The proposed algorithmdiffers from the traditional ACO path planning algorithm in three respects: modified transition probability functionfor moving ants, modified pheromone update rule, and heterogeneous ants. The simulation results demonstrate theeffectiveness of the HAB-PP.
정진수(Jin Su Jeong),임윤원(Yun Won Lim),강수혁(Soo Hyek Kang),김동한(Dong Han Kim) 제어로봇시스템학회 2011 제어·로봇·시스템학회 논문지 Vol.17 No.2
In this paper we present cooperation of heterogeneous robot team, composed of a wheeled robot and a helicopter for localization and map building. This heterogeneous robot team can successfully fulfill task by combining the abilities of both robots than single robot because wheeled robot and helicopter have complementing ability. The scenario describes a tightly cooperative task, where the wheeled robot move carrying the helicopter and detect obstacles, if there are obstacles, helicopter take off for map building and land, then robot team move destination avoiding obstacles. We present PID controller for position control of helicopter and transformation algorithm to global coordinate from image pixel coordinate. Experimental result show that the proposed method is valid.
Hualong Xie,Xiaofei Zhao,Qiancheng Sun,Kun Yang,Fei Li 대한기계학회 2020 JOURNAL OF MECHANICAL SCIENCE AND TECHNOLOGY Vol.34 No.1
Our research team combined humanoid robots with intelligent lower limb prostheses to study the dynamic characteristics of intelligent lower extremity prostheses for disabled people in the walking process, and proposed a biped robot with heterogeneous legs (BRHL). This paper proposes a new virtual-real inverted pendulum system model to unify the models for both single support phase and double support phase in walking process and builds a special simulation platform which can acquire the real-time center of mass (COM) trajectory. Initially, a gravity-compensated inverted pendulum model was built and improved the stability of gait, a natural ZMP trajectory improved the anthropomorphism of the gait. Furthermore, in double support phase, a virtual inverted pendulum model was established and a virtual-real inverted pendulum model was proposed and used to plan the gait of both single support phase and double support phase in the walking process. Additionally, the joint angles were obtained by inverse kinematics; the stability of the system was analyzed to be feasible and effective by phase trajectories. A special ADAMS simulation platform was built to simulate the walking process and acquire real-time COM trajectory. The feasibility of the gait planning was also verified. Finally, the trajectory of COM was optimized based on the minimum energy criterion according to the geodesic equation.