Sang Bong Kim
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Published : 5 Documents
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Path Tracking Controller of Quadruped Robot for Obstacle Avoidance Using Potential Functions Method Hoang, Giang; Kyeong Kim, Hak; Bong Kim, Sang
International Journal of Science and Engineering (IJSE) Vol 4, No 1 (2013)
Publisher : Chemical Engineering Diponegoro University

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Abstract

This paper proposes a tracking controller for obstacle avoidance of a quadruped robot using potential functions method. The followings are done for this task. At first, a ceiling-mounted camera system is installed for image processing. The goal point and obstacles are separated and recognized by a color recognition method. Second, a path planning algorithm using potential functions method is proposed to generate the path to avoid obstacles and to plan a path for the quadruped robot to reach from start point to goal point. Third, a quadruped robot is chosen as the mobile platform for this study and the kinematic model for the robot is presented. Fourth, a tracking controller is designed for the quadruped robot to track the trajectory based on the backstepping method using Lyapunov function. Finally, the simulation results are presented to show the effectiveness of the proposed trajectory planning algorithm and the tracking controller. [Keywords— Path tracking; back stepping; obstacles avoidance; potential functions; quadruped robot].
Development of Navigation Control Algorithm for AGV Using D* search Algorithm Geun Kim, Jeong; Hwan Kim, Dae; Kwun Jeong, Sang; Kyeong Kim, Hak; Bong Kim, Sang
International Journal of Science and Engineering (IJSE) Vol 4, No 2 (2013)
Publisher : Chemical Engineering Diponegoro University

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.12777/ijse.v4i2.4310

Abstract

In this paper, we present a navigation control algorithm for Automatic Guided Vehicles (AGV) that move in industrial environments including static and moving obstacles using D* algorithm. This algorithm has ability to get paths planning in unknown, partially known and changing environments efficiently. To apply the D* search algorithm, the grid map represent the known environment is generated. By using the laser scanner LMS-151 and laser navigation sensor NAV-200, the grid map is updated according to the changing of environment and obstacles. When the AGV finds some new map information such as new unknown obstacles, it adds the information to its map and re-plans a new shortest path from its current coordinates to the given goal coordinates. It repeats the process until it reaches the goal coordinates. This algorithm is verified through simulation and experiment. The simulation and experimental results show that the algorithm can be used to move the AGV successfully to reach the goal position while it avoids unknown moving and static obstacles. [Keywords— navigation control algorithm; Automatic Guided Vehicles (AGV); D* search algorithm]
Sensorless Vector Control of AC Induction Motor Using Sliding-Mode Observer Thinh Doan, Phuc; Tien Nguyen, Tan; Kwun Jeong, Sang; June Oh, Sea; Bong Kim, Sang
International Journal of Science and Engineering (IJSE) Vol 4, No 2 (2013)
Publisher : Chemical Engineering Diponegoro University

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.12777/ijse.v4i2.4311

Abstract

This paper develops a sensorless vector controlled method for AC induction motor using sliding-mode observer. For developing the control algorithm, modeling of AC induction motor is presented. After that, a sliding mode observer is proposed to estimate the motor speed, the rotor flux, the angular position of the rotor flux and the motor torque from monitored stator voltages and currents. The use of the nonlinear sliding mode observer provides very good performance for both low and high speed motor operation. Furthermore, the proposed system is robust in motor losses and load variations. The convergence of the proposed observer is obtained using the Lyapunov theory. Hardware and software for simulation and experiment of the AC induction motor drive are introduced. The hardware consists of a 1.5kw AC induction motor connected in series with a torque sensor and a powder brake. A controller is developed based on DSP TMS320F28355. The simulation and experimental results illustrate that fast torque and speed response with small torque ripples can be achieved. The proposed control scheme is suitable to the application fields that require high performance of torque response such as electric vehicles. doi:http://dx.doi.org/10.12777/ijse.4.2.2013.39-43 [How to cite this article: Doan, P. T., Nguyen, T. T., Jeong, S. K., Oh, S. J., & Kim, S. B. (2013). Sensorless Vector Control of AC Induction Motor Using Sliding-Mode Observer. INTERNATIONAL JOURNAL OF SCIENCE AND ENGINEERING, 4(2), 39-43; doi: http://dx.doi.org/10.12777/ijse.4.2.2013.39-43]
AGV Trajectory Control Based on Laser Sensor Navigation Luan Bui, Thanh; Thinh Doan, Phuc; Sil Park, Soon; Kyeong Kim, Hak; Bong Kim, Sang
International Journal of Science and Engineering (IJSE) Vol 4, No 1 (2013)
Publisher : Chemical Engineering Diponegoro University

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Abstract

Autonomous Guided Vehicle Systems (AGVs) are used to transport goods and products in manufacturing fields where navigation can be done in a structured environment. In order to track the given trajectory, a tracking control based on Lyapunov stability theory is introduced. The use of the nonlinear Lyapunov technique provides robustness for load disturbance and sensor noise. To apply Lyapunov´s theorem, the kinematic model of AGV is given. To recognize its position in indoor environment, in this paper, a laser sensor device NAV200 is used to detect the AGV position in real-time. For simulation and experiment, software and hardware are described. The AGV consists of 4 wheels with two passive wheels and two driving wheels. A controller is developed based on industrial computer. The effectiveness of the proposed controller is proved by simulation and experimental results.[AGV Trajectory Control, Laser Sensor Navigation]
Moving Object Tracking and Avoidance Algorithm for Differential Driving AGV Based on Laser Measurement Technology Pratama, Pandu Sandi; Kwun Jeong, Sang; Sil Park, Soon; Bong Kim, Sang
International Journal of Science and Engineering (IJSE) Vol 4, No 1 (2013)
Publisher : Chemical Engineering Diponegoro University

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Abstract

This paper proposed an algorithm to track the obstacle position and avoid the moving objects for differential driving Automatic Guided Vehicles (AGV) system in industrial environment. This algorithm has several abilities such as: to detect the moving objects, to predict the velocity and direction of moving objects, to predict the collision possibility and to plan the avoidance maneuver. For sensing the local environment and positioning, the laser measurement system LMS-151 and laser navigation system NAV-200 are applied. Based on the measurement results of the sensors, the stationary and moving obstacles are detected and the collision possibility is calculated. The velocity and direction of the obstacle are predicted using Kalman filter algorithm. Collision possibility, time, and position can be calculated by comparing the AGV movement and obstacle prediction result obtained by Kalman filter. Finally the avoidance maneuver using the well known tangent Bug algorithm is decided based on the calculation data. The effectiveness of proposed algorithm is verified using simulation and experiment. Several examples of experiment conditions are presented using stationary obstacle, and moving obstacles. The simulation and experiment results show that the AGV can detect and avoid the obstacles successfully in all experimental condition. [Keywords— Obstacle avoidance, AGV, differential drive, laser measurement system, laser navigation system].