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Woojin Chung
Woojin Chung | Associate Professor
433, School of Mechanical Engineering, Korea University, Anamdong, 5-Ga, Sungbuk-Gu, Seoul, Korea, 136-713
Ph. D in Mechanical Engineering, The University of Tokyo( Dept. of Mechano-Informatics), Tokyo, Japan, 1998
M. S. in Mechanical Engineering , The University of Tokyo( Dept. of Mechano- Informatics), Tokyo, Japan, 1995
B.S. in Mechanical Engineering, Seoul National University( Dept. of Mechanical Design and Production Engineering), Seoul, Korea, 1993
Intelligent Systems and Robotics
GSPN (Generalized Stochastic Petri Nets) based navigation behavior control of an indoor service robot
In this research, we propose a behavior selection scheme between a reactive motion control combined with a global path planning algorithm and combined with a trajectory tracking algorithm. We design two navigation behaviors. One is a plan-based reactive navigation behavior, the AutoMovereactive, which exploits the conventional Dynamic Window Approach (DWA) as the reactive motion controller. The other behavior is AutoMovetracking, which exploits trajectory tracking controller. Two navigation schemes are based on different navigation assumptions. As a result, the two schemes have completely different advantages and disadvantages. We selected the appropriate navigation behavior based on the Generalized Stochastic Petri Nets (GSPN) discrete control framework.
Laser based leg detection and using walking model for human following.
This research proposes a method for a mobile robot to detect a human leg and to follow the human for interaction. Most human-tracking schemes in mobile robots utilize vision sensors and LRF(Laser Range Finder). It is common that mobile robots measure the distance to a human through a LRF after recognizing the human by vision. Our approach is to detect human leg on the basis of the LRF only. Using attributes that have been experimentally obtained by the accurate range data with a LRF, we defined a variety of attributes of legs to distinguish legs. We developed a simple walking model of human walking. The walking model is useful when mobile robots lost track of the target person’s legs and failed to detect those legs. On the basis of the predicted leg location by the proposed walking model, the leg tracking can be recovered.
Obstacle avoidance of an outdoor patrol robot on the road.
For outdoor navigation, it is necessary to find the relevant features of outdoor road environments and detect drivable region for robot’s motion. This paper presents a methodology for extracting the drivable road region by detecting the prominent road features and obstacles through a single laser range finder. The prominent features of roads are curbs and the road surface. The laser range finder is mounted on the mobile robot, looks down the road with a small tilt angle, and obtains two-dimensional range data. The proposed method is computationally more efficient in comparison with vision-based techniques and applicable for various road conditions in target environment. Experimental results confirm the reliability of the algorithm.
Backward-Motion Control of a Car-Like Mobile Robot with n Passive Off-Hooked Trailers
It is difficult to find a practical solution for the backward-motion control of a car-like mobile robot with n passive trailers. In this research, we propose a reversely connected car and trailers that can improve the performance of the backward-motion control of n passive trailers by the use of a general car instead of a specialized mobile robot. Theoretical verification, simulation, and experimental results show that the backward-motion control of a general car with n passive trailers can be successfully carried out by using the propose approach.
Motion Planning of the Car-like Vehicle in the Parking Space by the Motion Space
Automatic parking assist system is one of the key technologies in future automobiles. A car-like robot is difficult to control due to the nonholonomic constraints. In this research, a path planning algorithm based on the slice projection technique optimized particularly for car-parking is proposed. Collision-free region of a nonholonomic motion can be easily computed by using the slice projection technique. Sufficient collision-free, nonholonimic feasible paths can be directly obtained by computing reachable regions by using the slice projection technique for nonholonomic motions from the initial pose. The proposed planning scheme provide not a single solution, but a candidate solution set. Therefore, the parking path can be easily optimized with respect to performance criteria such as safety, maneuvering, and so on.