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Development of Traveling Surface Characteristics Extraction Equipment Using Optical Mouse Array |
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Sungbok Kim, Minkyu Park(Hankuk Univ. of Foreign Studies, Republic of Korea) |
| This paper presents the development of the traveling surface characteristics extraction equipment for accurate velocity estimation of a mobile robot using optical mice. In the traveling surface characteristics extraction equipment, a traveling surface sample is rotating relative to stationary optical mice, instead of a mobile robot equipped with optical mice traveling over a floor surface. First, the operational principle of the traveling surface characteristics extraction equipment is explained, Then, the mechanical design & construction, the hardware development, and the software development |
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Robust Localization Using RGB-D Images |
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Yoonseon Oh, Songhwai Oh(Seoul National University, Republic of Korea) |
| Visual information extracted from RGB images has been successfully used for mobile robot localization. The main difficulty with localization using RGB images is that visual features from RGB images are not completely invariant against changes in viewpoints and lighting conditions. This problem can be overcome using features from RGB-D images. In this paper, we evaluate two depth features, depth patches and histograms of oriented normal vectors, extracted from RGB-D images for localization of a mobile robot and demonstrate that robust localization is possible under varying lighting conditions. |
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The study on scan matching method using Procrustes analysis |
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Hyung Kim, Batsaikhan Dugarjav(kYUNGHEE UNIVERSITY, Mongolia), Soongeul Lee(KYUNGHEE UNIVERSITY, Republic of Korea), Kwanghun Lee(kYUNGHEE UNIVERSITY, Republic of Korea) |
| Mobile robots must be to know their positions in unknown environments in order to perform tasks reliably. In this paper, using the laser range finder in an unknown environment, accurate map building and localization to enhance the scan-matching algorithm is proposed. When using the encoder, accurate localization considering the error by wheel of slip and backlash is required; using the obtained scan data of the laser range finder while the robot navigates, and using the Procrustes Analysis method, reference and current data for matching the error of translation and rotation are obtained. |
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Trot Gait simulation of Four Legged Robot Based on a Sprawled Gait |
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Changhoi Kim, Hochel Shin, Kyungmin Jeong(Korea Atomic Energy Research Institute, Republic of Korea) |
| Lizards' sprawled gait increases their stability and allows them to overcome obstacles and rough terrain. The dynamic modeling of a lizard was carried out by weighing each link of a lizard and constructing its 3D shape using micro-CT scanning. We formulated a periodic sprawled gait which is able to describe the gait of lizards. In addition, we generated an upright gait by altering the gait parameters of the sprawled gait. The sprawled and upright gaits of the dynamic lizard model were simulated with various gait parameters using commercial dynamic analyzing software. |
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Analysis of Mobile Robot Navigation using Vector Field Histogram in Various Conditions |
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Whee Jae Yim, Jin Bae Park(Yonsei University, Republic of Korea) |
| We focus on the analysis of the mobile robot navigation problems with the vector field histogram (VFH) under various driving and environmental conditions. The VFH is one of the popular autonomous navigation algorithms. It constructs a polar histogram on the histogram grid map to express obstacles. To analyze the VFH, a number of numerical simulations are carried out where the number of sectors, the robot speed and the width of the path are regulated. As a result, we obtain the minimum number of sectors depending on the regulated driving and environmental conditions for successful navigation |
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Detection of Wheel Faults in Electric Vehicles via Localization Data |
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Carl Crane, Robert Kidd(University of Florida, United States) |
| This paper addresses the detection of wheel faults in autonomous vehicles. Instead of the typically broad
range of sensors involved, localization data is used to detect and classify three major faults in torque-controlled DC motors. A four wheeled vehicle is implemented in simulation with independent steering and in-hub motors to generate localization data. The vehicle model is based on extensive vehicle dynamics modeling to accurately predict a small passenger vehicle. |
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