Jong-hun Park

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Localization accuracy is a significant fundament for autonomous mobile robot navigation. In this paper, robot fuses the information from odometry and the ultrasonic satellite for localization. In order to improve the accuracy of localization, a Fuzzy-extended Kalman filter (Fuzzy-EKF) method is applied to avoid the robot using the large error data to update(More)
This paper presents a method to follow a moving target for a mobile robot. The robot follows a target object while maintaining face angle and distance. This method uses clustering from LRF sensor to detect the target and the calculates the linear and rotational velocities needed to follow the target. The performance of the method is tested through(More)
Carrying unknown heavy payload is one of the classical problems in robotics. To realize heavy payload capability, the use of high reduction gears, which causes large motor-side inertia and large friction, is inevitable. This paper proposes a disturbance observer (DOB)-based approach that (1) reduces highly amplified motor-side inertia (2) compensates for(More)
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