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비전센서를 사용하는 이동로봇의 골격지도를 이용한 지역경로계획 알고리즘
권지욱(Ji-Wook Kwon),양동훈(Dong-Hoon Yang),홍석교(Suk-Kyo Hong) 대한전기학회 2006 대한전기학회 학술대회 논문집 Vol.2006 No.7
This paper proposes a local path-planning algorithm that enables a mobile robot with vision sensor in a local area. The proposed method based on projective geometry and a wavefront method finds local-paths to avoid collisions using 3-D walls or obstacles map generated using projective geometry. Simulation results show the feasibility of the proposed method
간접 칼만 필터 기반의 센서융합을 이용한 실외 주행 이동로봇의 위치 추정
권지욱(Ji-Wook Kwon),박문수(Mun-Soo Park),김태은(Taeun Kim),좌동경(Dongkyoung Chwa),홍석교(Suk-Kyo Hong) 제어로봇시스템학회 2008 제어·로봇·시스템학회 논문지 Vol.14 No.8
This paper presents a localization algorithm of the outdoor wheeled mobile robot using the sensor fusion method based on indirect Kalman filter(IKF). The wheeled mobile robot considered with in this paper is approximated to the two wheeled mobile robot. The mobile robot has the IMU and encoder sensor for inertia positioning system and GPS. Because the IMU and encoder sensor have bias errors, divergence of the estimated position from the measured data can occur when the mobile robot moves for a long time. Because of many natural and artificial conditions (i.e. atmosphere or GPS body itself), GPS has the maximum error about 1O~20m when the mobile robot moves for a short time. Thus, the fusion algorithm of IMU, encoder sensor and GPS is needed. For the sensor fusion algorithm, we use IKF that estimates the errors of the position of the mobile robot. IKF proposed in this paper can be used other autonomous agents (i.e. UAV, UGV) because IKF in this paper use the position errors of the mobile robot. We can show the stability of the proposed sensor fusion method, using the fact that the covariance of error state of the IKF is bounded. To evaluate the performance of proposed algorithm, simulation and experimental results of IKF for the position(x-axis position, y-axis position, and yaw angle) of the outdoor wheeled mobile robot are presented.
비전시스템 기반 군집주행 이동로봇들의 삼차원 위치 및 자세 추정
권지욱(Ji-Wook Kwon),박문수(Mun-Soo Park),좌동경(Dongkyoung Chwa),홍석교(Suk-Kyo Hong) 제어로봇시스템학회 2009 제어·로봇·시스템학회 논문지 Vol.15 No.12
We derive a systematic and iterative calibration algorithm, and position and pose estimation algorithm for the mobile robots in formation system based on the vision system. In addition, we develop a coordinate matching algorithm which calculates matched sequence of order in both extracted image coordinates and object coordinates for non interactive calibration and pose estimation. Based on the results of calibration, we also develop a camera simulator to confirm the results of calibration and compare the results of simulations with those of experiments in position and pose estimation.
도킹-포메이션을 이용한 쿼드로터 무인기의 창문 통과 알고리즘
권지욱(Ji-Wook Kwon),김우현(Woohyun Kim),김진효(Jin Hyo Kim),서지원(Jiwon Seo) 대한전기학회 2015 정보 및 제어 심포지엄 논문집 Vol.2015 No.4
This paper proposes a docking-formation algorithm for the quadrotor UAV flight passing through a window. The docking-formation generates the desired waypoint passing through the window with respect to the position and orientation of the window. In addition, the UAV tracks the generated waypoint using a back-stepping-like feedback linearization control algorithm.
행동기반 다개체 로봇 시스템을 이용한 환경감시 알고리즘
권지욱(Ji-Wook Kwon),홍석교(Suk-Kyo Hong),좌동경(Dongkyoung Chwa) 대한전기학회 2012 전기학회논문지 Vol.61 No.4
This paper proposes an environment monitoring algorithm using a behavior-based multiple robot system. This paper handles an escort and a boundary-tracking especially. Unlike previous research works, the proposed environment monitoring system which is based on the behavior-based multiple robot control allows the system to employ the reusable code and general algorithm. Also, the proposed method can be applied to cheaper process with low performances. In the proposed method, escort and boundary-tracking missions are constructed by weighted sum of predefined basic behaviors after redefining the basic behaviors in previous works and introducing the novel basic behavior. Simulation results of the proposed method are included to demonstrate the practical application of the proposed algorithm.
역보행 제어 형태의 궤환 선형화를 이용한 양방향 플래툰 제어
권지욱(Ji-Wook Kwon) 제어로봇시스템학회 2013 제어·로봇·시스템학회 논문지 Vol.19 No.5
This paper proposes a bidirectional platoon control law using a coupled distance error based on the backstepping-like feedback linearization control method for an interconnected mobile agent system with a string structure. Unlike the previous results where the single agent was controlled using the only own information without other agents, the proposed control law cannot show the only distance error convergence of each agent, but also the string stability of the whole system. Also, the control performances are improved by the proposed control law in spite of low performance of bidirectional control strategy in the previous results. The proposed bidirectional platoon control algorithm is based on the backstepping-like feedback linearization control method. The position errors between each agent and the preceding and the behind agents are coupled by weighted summation. By the proposed control law, the distance error of each agent can converge to zero while the string stability is guaranteed when the coupled errors can converge to zero. To this end, the back-stepping control method is employed. The pseudo velocity input is determined considering the kinematic relationship between agents and the string stability. Then, the actual dynamic control input is determined to make the actual velocity converge to the pseudo velocity input. The stability analysis and the simulation results of the proposed method are included in order to demonstrate the practical application of the proposed algorithm.
도킹-포메이션을 이용한 쿼드로터 무인기의 창문 통과 알고리즘
권지욱(Ji-Wook Kwon),김우현(Woohyun Kim),김진효(Jin Hyo Kim),서지원(Jiwon Seo) 대한전기학회 2015 대한전기학회 학술대회 논문집 Vol.2015 No.4
This paper proposes a docking-formation algorithm for the quadrotor UAV flight passing through a window. The docking-formation generates the desired waypoint passing through the window with respect to the position and orientation of the window. In addition, the UAV tracks the generated waypoint using a back-stepping-like feedback linearization control algorithm.
권지욱(Ji-Wook Kwon),김진효(Jin Hyo Kim),서지원(Jiwon Seo) 대한전자공학회 2014 전자공학회논문지 Vol.51 No.10
본 논문은 무인 자동차의 자율주차 알고리즘 개발을 위하여 이 문제를 차량형 이동로봇의 위치-자세 안정화 (posture regulation) 문제로 치환하고 이렇게 치환된 문제를 해결할 수 있는 차량형 이동로봇을 위한 도킹 포메이션과 궤환선형화 제어기법을 제안한다. 경로생성 기법과 최적화 기법을 기반으로 하는 기존의 연구결과들에 비해, 본 논문에서 제안하는 자율주차 알고리즘은 자율주차 문제를 도킹 포메이션 기반의 위치-자세 안정화 문제로 치환하고 입력제한을 고려할 수 있는 궤환선형화 제어기법을 적용함으로써 적은 연산량과 낮은 성능의 프로세서만으로도 무인 자동차의 자율 주차가 가능하도록 한다. 본 논문에서 제안된 차량형 이동로봇의 도킹 포메이션과 궤환선형화 제어기법의 유효성은 안정성 해석을 통하여 보이고, 본 논문에서 제안하는 자율주차 알고리즘의 성능은 모의실험 및 실제 로봇을 통한 실험결과를 통하여 검증한다. For a autonomous parking of unmanned car, this paper proposes a posture regulation algorithm of a car-like mobile robot, which is supported by a docking formation and a feedback linearization control law. Unlike the previous researches based on a path-planning and optimization algorithms, the autonomous car implemented the proposed autonomous parking algorithm can be parked without much computational burden and a high performance processor. Stability of the proposed docking formation and feedback linearization control law are analyzed and performance of the proposed algorithm is shown by implementing to the simulations with six scenarios and an actual car in the experiment place.