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김봉근,오바코타로 한국로봇학회 2009 로봇학회 논문지 Vol.4 No.2
Visions of ubiquitous robotics and ambient intelligence involve distributing information, knowledge, computation over a wide range of servers and data storage devices located all over the world, and integrating tiny microprocessors, actuators, and sensors into everyday objects as well in order to make them smart. In this paper, we introduce our ongoing research effort aimed at realizing ubiquitous robots in an information structured space. For this, a ubiquitous space and ambient intelligent systems for a librarian robot are introduced and the RFID technology based approach for these systems is described.
김용식,이재훈,김봉근,오바코타로,오야아키히사 한국로봇학회 2009 로봇학회 논문지 Vol.4 No.2
In this paper, a localization error recovery method based on bias estimation is provided for outdoor localization of mobile robot using different-type sensors. In the previous data integration method with DGPS, it is difficult to localize mobile robot due to multi-path phenomena of DGPS. In this paper, fault data due to multi-path phenomena can be recovered by bias estimation. The proposed data integration method uses a Kalman filter based estimator taking into account a bias estimator and a free-bias estimator. A performance evaluation is shown through an outdoor experiment using mobile robot.
도현민,김용식,김봉근,이재훈,오바코타로 한국로봇학회 2009 로봇학회 논문지 Vol.4 No.2
This paper presents a goal-directed reactive obstacle avoidance method based on lane method. The reactive collision avoidance is necessarily required for a robot to navigate autonomously in dynamic environments. Many methods are suggested to implement this concept and one of them is the lane method. The lane method divides the environment into lanes and then chooses the best lane to follow. The proposed method does not use the discrete lane but chooses a line closest to the original target line without collision when an obstacle is detected, thus it has a merit in the aspect of running time and it is more proper for narrow corridor environment. If an obstacle disturbs the movement of a robot by blocking a target path, a robot generates a temporary target line, which is parallel to an original target line and tangential to an obstacle circle, to avoid a collision with an obstacle and changes to and follows that line until an obstacle is removed. After an obstacle is clear, a robot returns to an original target line and proceeds to the goal point. Obstacle is recognized by laser range finder sensor and represented by a circle. Our method has been implemented and tested in a corridor environment and experimental results show that our method can work reliably.
분산된 센서들의 Registration 오차를 줄이기 위한 새로운 필터링 방법
김용식,이재훈,도현민,김봉근,타니카와타미오,오바코타로,이강,윤석헌 한국로봇학회 2008 로봇학회 논문지 Vol.3 No.3
In this paper, new filtering method for sensor registration is provided to estimate and correct error of registration parameters in multiple sensor environments. Sensor registration is based on filtering method to estimate registration parameters in multiple sensor environments. Accuracy of sensor registration can increase performance of data fusion method selected. Due to various error sources, the sensor registration has registration errors recognized as multiple objects even though multiple sensors are tracking one object. In order to estimate the error parameter, new nonlinear information filtering method is developed using minimum mean square error estimation. Instead of linearization of nonlinear function like an extended Kalman filter, information estimation through unscented prediction is used. The proposed method enables to reduce estimation error without a computation of the Jacobian matrix in case that measurement dimension is large. A computer simulation is carried out to evaluate the proposed filtering method with an extended Kalman filter.