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칼라 패치 변경을 이용한 축구 로봇 시스템의 성능 개선
고창건,장문희,이석규,Ko, Chang-Gun,Jang, Mun-Hee,Lee, Suk-Gyu 대한임베디드공학회 2009 대한임베디드공학회논문지 Vol.4 No.3
This paper proposes a novel method to enhance performance of soccer robot system using optimal color patch mounted on the robot. In soccer robot system, the position and orientation of the robot can be estimated with color patch under real time environment. However, the location estimation of the robot is very sensitive to the pattern of color patch. In addition, pattern recognition and navigation algorithm are operated independently to reduce the operation time. The experimental results show that the proposed pattern of patch is effective to reduce the position and orientation error of the robot.
객체 지향적 슬레이브 로봇들로 구성된 홈서비스 로봇 시스템의 구현
고창건(Chang-gun Ko),고대건(Dae-gun Ko),권혜진(Hye-jin Kwan),박정일(Jung-il Park),이석규(Suk-gyu Lee) 대한전기학회 2007 대한전기학회 학술대회 논문집 Vol.2007 No.4
This paper proposes a new paradigm for cooperation of multi-robot system for home service. For localization of each robot, the master robot collects information of location of each robot based on communication of RFID tag on the floor and RFID reader attached on the bottom of the robot. The Master robot communicates with slave robots via wireless LAN to check the motion of robots and command to them based on the information from slave robots. The operator may send command to slave robots based on the HRI(Human - Robot Interaction) screened on masted robot using information from slave robots. The cooperation of multiple robots will enhance the performance comparing with single robot.