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탁명환(Myung Hwan Tak),주영훈(Young Hoon Joo) 대한전기학회 2014 전기학회논문지 Vol.63 No.10
In this paper, we propose the formation control algorithm using the leader-following robots in given space. The proposed method is as follows: First, we plan a path of the leader robot for the obstacle avoidance. After that, we propose the formation control algorithm of the following robots using the position and the orientation angle of the leader robot. Also, we propose method for adjusting the formation of the swarm robots when the following robots detect an obstacles. Finally, we show the effectiveness and feasibility of the proposed method though some simulations.
스마트 스페이스에서 RFID 시스템을 이용한 다수 이동로봇 인식 시스템
탁명환(Myung Hwan Tak),염동회(Dong-Hae Yeom),조영조(Young-Jo Cho),주영훈(Young Hoon Joo) 대한전기학회 2010 전기학회논문지 Vol.59 No.11
This paper deals with the recognition of multiple mobile robots equipped with RFID tag. In the case that the number of robots recognized by each RFID reader is larger than that of allocated slots, the clashing recognition occurs. And, in the case that the total number of robots recognized by all RFID reader is larger than that of real robots, the repetitious recognition occurs. We employ the dynamic frame slot allocation by using the ALOHA algorithm to prevent the clashing recognition and estimate the number of robots by using the received signal strength indication to prevent the repetitious recognition. The numerical experiment shows the reliability and the efficiency of the proposed method.
탁명환(Myung Hwan Tak),주영훈(Young Hoon Joo),박진배(Jin Bae Park) 한국지능시스템학회 2010 한국지능시스템학회 학술발표 논문집 Vol.20 No.2
This paper deals with the recognition of multiple mobile robots equipped with RFID tag. In the case that the number of robots recognized by each RFID reader is larger than that of allocated slots, the clashing recognition occurs. And, in the case that the total number of robots recognized by all RFID reader is larger than that of real robots, the repetitious recognition occurs. We employ the dynamic frame slot allocation by using the ALOHA algorithm to prevent the clashing recognition and estimate the number of robots by using the received signal strength indication to prevent the repetitious recognition. The numerical experiment shows the reliability and the efficiency of the proposed method.
GPU 기반 SIFT 방법과 가상의 힘을 이용한 이동 로봇의 위치 인식 및 자율 주행 제어
탁명환(Myung Hwan Tak),주영훈(Young Hoon Joo) 대한전기학회 2016 전기학회논문지 Vol.65 No.10
In this paper, we present localization and autonomous navigation method using GPU(Graphics Processing Unit)-based SIFT(Scale-Invariant Feature Transform) algorithm and virtual force method for mobile robots. To do this, at first, we propose the localization method to recognize the landmark using the GPU-based SIFT algorithm and to update the position using extended Kalman filter. And then, we propose the A-star algorithm for path planning and the virtual force method for autonomous navigation of the mobile robot. Finally, we demonstrate the effectiveness and applicability of the proposed method through some experiments using the mobile robot with OPRoS(Open Platform for Robotic Services).