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A Path Following Control of an Unmanned Autonomous Forklift
Tamba, Tua Agustinus,Hong, Bong-Hee,Hong, Keum-Shik 제어로봇시스템학회 2009 Transaction on control, automation and systems eng Vol. No.
In this paper, the development of an unmanned autonomous forklift is discussed. A system configuration using vision, laser ranger finder, sonar, etc. for autonomous navigation is presented. The kinematics of a spin-turn mechanism is analyzed first, and then the obtained kinematics equations are transformed to the equations represented by path variables. These equations are nonlinear state equations to be used for control purposes. A time varying feedback control law via the chained form of Murray and Sastry [12] is derived. The effectiveness of the proposed control law is examined through simulations and experiments.
A Nonlinear Path Following Control of an Unmanned Autonomous Industrial Vehicle
Tua Agustinus Tamba(투아 야구스티누스 탐바),Augie Widyotraitmo,T.T.Wuyen Bui,Keum-Shik Hong(홍금식) 제어로봇시스템학회 2008 제어로봇시스템학회 국내학술대회 논문집 Vol.2008 No.10
In this paper, the development of an unmanned autonomous forklift is discussed. A control architecture using vision, laser ranger finder, sonar, etc. for autonomous navigation is presented. The kinematic of spin-turn mechanism is analyzed first, and then the obtained kinematic equations are transformed to the equations represented by path variables. These equations are nonlinear state equations to be used for control purposes. A time varying feedback control law via the chained form of Murray and Sastry is derived. The effectiveness of the proposed control law is examined through simulation.
A Path Following Control of an Unmanned Autonomous Forklift
Tua Agustinus Tamba,홍봉희,홍금식 제어·로봇·시스템학회 2009 International Journal of Control, Automation, and Vol.7 No.1
In this paper, the development of an unmanned autonomous forklift is discussed. A system configuration using vision, laser ranger finder, sonar, etc. for autonomous navigation is presented. The kinematics of a spin-turn mechanism is analyzed first, and then the obtained kinematics equations are transformed to the equations represented by path variables. These equations are nonlinear state equations to be used for control purposes. A time varying feedback control law via the chained form of Murray and Sastry [12] is derived. The effectiveness of the proposed control law is examined through simulations and experiments.
탐바 투아 아구스티누스(Tua Agustinus Tamba),홍금식(Keum-Shik Hong) 대한기계학회 2008 대한기계학회 춘추학술대회 Vol.2008 No.5
This paper discusses the control system design of an unmanned autonomous forklift. A control architecture using several sensors (vision, laser range finder, sonar, etc.) and PC controller for autonomous navigation is presented. For the control purpose, a feedback control law is derived based on the kinematic model of the forklift. The aim of the designed feedback control algorithm is to force the forklift to follow a reference path trajectory provided by a path planner. Simulation is conducted to examine the proposed control algorithm.
EEG-SSVEP Signals Extraction with Nonlinear Adaptive Filter for Brain-Controlled Wheelchair
Arjon Turnip,Demi Soetraprawata,Tua Agustinus Tamba 제어로봇시스템학회 2015 제어로봇시스템학회 국제학술대회 논문집 Vol.2015 No.10
In this paper, an application of nonlinear adaptive filter on EEG-SSVEP extraction for brain-controlled wheelchair is proposed. In the experiment, four subjects with age about 25±1 years were tested. The experimental results in this work show that the implementation of the proposed method achieves a very significant statistical improvement in extracting peak amplitude features. After a short time of practice, most participants could learn to extract the EEG-SSVEP wave with greater than 95% accuracy.