http://chineseinput.net/에서 pinyin(병음)방식으로 중국어를 변환할 수 있습니다.
변환된 중국어를 복사하여 사용하시면 됩니다.
A Navigation System for Service Robot using Stereo Vision and Kalman Filtering
Widodo Budiharto,Ari Santoso,Djoko Purwanto,Achmad Jazidie 제어로봇시스템학회 2011 제어로봇시스템학회 국제학술대회 논문집 Vol.2011 No.10
The objective of this paper is to propose a method for navigating a vision-based service robot using stereo vision and Kalman Filtering. We have develop modules for face recognition system, visual tracking and multiple moving obstacles avoidance using stereo camera. Someone that walks will be identified as moving obstacle and we propose a method to avoid the multiple moving obstacles. Kalman filtering for distance estimation using stereo camera used for stability of measurement and removing noise from the input images. To overcome the inaccuracies of vision sensor, Bayesian approach is used for estimate the absense and direction of obstacles. Algorithms for moving obstacles avoidance method proposed and experiment results implemented to a service robot also presented. Our system can overcome the drawbacks of popular obstacle avoidance methods because it provides a complete mechanism for a vision-based service robot so that it can avoid the moving obstacles.Various experiments show that our proposed method very fast, and successfully implemented to service robot called Srikandi III in our laboratory.
Khairul Anam,Prihastono,Handy Wicaksono,Rusdhianto Effendi,Indra Adji S,Son Kuswadi,Achmad Jazidie,Mitsuji Sampei 제어로봇시스템학회 2009 제어로봇시스템학회 국제학술대회 논문집 Vol.2009 No.8
This paper proposes hybridization of fuzzy Q-learning and behavior-based control for autonomous mobile robot navigation problem in cluttered environment with unknown target position. The fuzzy Q-learning is incorporated in behavior-based control structure and it is considered as generation of primitive behavior like obstacle avoidance and target searching. The simulation result demonstrates that the hybridization enables robot to be able to learn the right policy, to avoid obstacle and to find the target. Real implementation of this hybridization shows that the robot was able to learn the right policy i.e. to avoid obstacle.
Modified Fuzzy Behavior Coordination for Autonomous Mobile Robot Navigation System
Handy Wicaksono,Prihastono,Khairul Anam,Rusdhianto Effendi,Indra Adji S.,Son Kuswadi,Achmad Jazidie,Mitsuji Sampei 제어로봇시스템학회 2009 제어로봇시스템학회 국제학술대회 논문집 Vol.2009 No.8
In behavior based robotics, development of behavior coordination method is very important. Fuzzy BehaviorCoordination (FBC) can be used here, but it still have weaknesses, because it can result in slow robot movement, toolong time to reach the target and fail to avoid trap. In this paper, modification of FBC, by combining it withSubsumption Architecture, is proposed to overcome those weaknesses. The simulation result shows that MFBC give the faster robot movement and decrease the amount of time to reach the target.
Prihastono,Handy Wicaksono,Khairul Anam,Rusdhianto Effendi,Indra Adji S.,Son Kuswadi,Achmad Jazidie 제어로봇시스템학회 2009 제어로봇시스템학회 국제학술대회 논문집 Vol.2009 No.8
The research of legged robot was rapidly developed. It can be seen from recent ideas about newsystems of robot movement that take ideas from nature, called biology inspired. This research focused on five legs robotthat inspired from sea star (phylum echinodermata). For cluttered environment, it is necessary to uses more than onelearning module to control navigation of five legs robot. This paper proposes the use of hybrid coordination node to coordinate multi fuzzy Q-learning module. The fuzzy Q-learning was incorporated in behavior-based control structure and was considered as generation of primitive behavior like obstacle avoidance.
The Mobility Performances of New Wheeled and Legged Hybrid Mechanisms System Roboti SRo
Son Kuswadi,Indra Adji Sulistijono,Rachman Ardyansyah,Ahmad Zulkarnain,Tiyo Avianto,Ilmi Rizki Imaduddin,Achmad Luthfi,Moh. Saifulloh,Achmad Jazidie,Mitsuji Sampei 제어로봇시스템학회 2009 제어로봇시스템학회 국제학술대회 논문집 Vol.2009 No.8
In rescue robot competition field, a robot needs to operatein various dynamic environments where they encounter amultitude of unknown both static and /or moving obstacles and targets. Hence, the robot should have high mobility performance to cope with this situation. Here, we propose a new robot hybrid mechanism that consists of wheeled and legged actuators. Based upon the designed mechanism, we derive 10 primitive motions. It is apparent that with this large number of primitive motions, the robot could achieve high mobility performances. We show such high performance by simulation and experiment.