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양방향 원격제어시스템에서 발생하는 패킷 손실이 시스템의 안정성에 미치는 영향
홍아영(Ayoung Hong),조장호(Jang Ho Cho),이두용(Doo Yong Lee) 대한기계학회 2010 대한기계학회 춘추학술대회 Vol.2010 No.11
This paper is focused on packet loss effects in bilateral teleoperation systems. In teleoperation systems, communication channel between master and slave causes packet loss and time delay; these affect performance and stability of teleoperation systems. To simulate packet loss effects, packet loss and teleoperation system including packet loss are modeled. In this paper, two types of packet loss process are considered. One is the uniform distributed packet loss process and the other is the biased packet loss process. Finally with two types of packet loss process, packet loss effects on performance and stability of bilateral teleoperation systems are discussed based on the simulation results.
확률 비용 맵을 이용한 수확 로봇의 경로 계획 알고리즘
김영민,홍아영 제어·로봇·시스템학회 2023 제어·로봇·시스템학회 논문지 Vol.29 No.1
Due to the increasing global demand for food and shortage of agricultural labor, researchers have focused on developing new technologies, capable of increasing production yields and farming efficiency. Since the repetitive harvesting task is labor-intensive, a robotic harvesting system is one of the promising solutions. To enable precise robotic harvesting, it is important to determine a path for the robot that avoids damaging the crops and other obstacles such as unripe crops, leaves, and stems. In this paper, we present a probabilistic costmap classified according to obstacle type and use it in an RRT-star path planning algorithm. The proposed path planning algorithm has two main features: a biased sampling method based on a probabilistic costmap and a costmap-based collision detector. We have validated the proposed path planning method in the scenario of cucumber harvesting tasks using a two-dimensional planar robot.