Zobrazeno 1 - 10
of 27
pro vyhledávání: '"Hakyoung Chung"'
Publikováno v:
IFAC Proceedings Volumes. 34:399-403
In this paper, a Linear Quadratic control of mobile robots via state space exact feedback linearization is presented. The state space exact feedback linearization is applied to the point stabilization of a mobile robot with heading angle constraint.
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_________::6ebf6ea07494641370f7fbac9d66cf4e
https://doi.org/10.1016/s1474-6670(17)33170-1
https://doi.org/10.1016/s1474-6670(17)33170-1
Autor:
Sunghyu Bae, Hakyoung Chung
Publikováno v:
IFAC Proceedings Volumes. 34:133-138
In this paper, a new methodology that uses a camera is proposed for obstacle localization. The angle of the camera is fixed down to detect the contact points of the obstacle and the floor. By coordinate transformation, the position of the obstacle in
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_________::84f19eb42101c24e0a4402941a964c9d
https://doi.org/10.1016/s1474-6670(17)34285-4
https://doi.org/10.1016/s1474-6670(17)34285-4
Publikováno v:
IEEE Transactions on Robotics and Automation. 17:80-84
This paper describes two methods aimed at improving dead-reckoning accuracy with fiber-optic gyroscopes (FOGs) in mobile robots. The first method is a precision calibration procedure for FOGs, which effectively reduces the ill effects of nonlinearity
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_________::4f34ccbf33fe9cba7dde2f8f19481e5b
https://doi.org/10.1109/70.917085
https://doi.org/10.1109/70.917085
Publikováno v:
Robotics and Computer-Integrated Manufacturing. 16:353-363
In this paper, we solve the point stabilization of mobile robots via state-space exact feedback linearization. The state-space exact feedback linearization has not been possible in the past for the point stabilization of mobile robots due to the rest
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_________::bb5eca258900414f5106d41f0e3f2f0f
https://doi.org/10.1016/s0736-5845(00)00008-9
https://doi.org/10.1016/s0736-5845(00)00008-9
Publikováno v:
Journal of Intelligent and Robotic Systems. 29:211-232
In this paper, a dynamic positioning system using a rotating sonar and a differential encoder is proposed. The method is implemented by employing an indirect feedback Kalman filter. The state equation is written for encoder propagation and its error
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_________::67877c8984847513308011c620cee603
https://doi.org/10.1023/a:1008187932210
https://doi.org/10.1023/a:1008187932210
Publikováno v:
IFAC Proceedings Volumes. 31:219-224
A dead reckoning navigation system for autonomous mobile robot localization is presented. The navigation system was implemented by novel sensor fusion using a Kalman filter. A differential encoder and the gyroscope error models are developed for the
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_________::b2952582c9ad995d2c7392d9ef0a6774
https://doi.org/10.1016/s1474-6670(17)44088-2
https://doi.org/10.1016/s1474-6670(17)44088-2
Publikováno v:
IFAC Proceedings Volumes. 31:183-187
In this paper, a dynamic localization method using a rotating sonar and a map is proposed. The proposed method is implemented by using an extended Kalman filter. The state equation is based on the encoder propagation model and the encoder error model
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_________::38b9e95dc68bfe167f6806c3debadba7
https://doi.org/10.1016/s1474-6670(17)44082-1
https://doi.org/10.1016/s1474-6670(17)44082-1
Autor:
Jang Gyu Lee, Hakyoung Chung
Publikováno v:
Robotics and Computer-Integrated Manufacturing. 11:13-21
This paper presents a new methodology for global path planning for an autonomous mobile robot in a grid-type world model. The value of a certainty grid representing the existence of an obstacle in the grid is calculated from readings of sonar sensors
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_________::ed607c0028c12cfef36ed55c4b7b8a27
https://doi.org/10.1016/0736-5845(94)90003-5
https://doi.org/10.1016/0736-5845(94)90003-5
Publikováno v:
IROS
This paper describes a methodol- ogy of world modelling and path planning for a mobile robot. The world model, called a cer- tainty grid for obstacle representation,is ob- tained from readings of ultrasonic sensors and more accurate world model is bu
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_________::4ecc3364709e7218d7485cd03a0162d8
https://doi.org/10.1109/iros.1992.587373
https://doi.org/10.1109/iros.1992.587373
Publikováno v:
ICRA
In this paper, the point stabilization of mobile robots via state space exact feedback linearization is presented. The state space exact feedback linearization has not been possible for the point stabilization of mobile robots due to the restricted m
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_________::49d59d836cb7dd1bc08af4aa571c3786
https://doi.org/10.1109/robot.1999.773993
https://doi.org/10.1109/robot.1999.773993