Author name cluster

Dae-Hee Kang

Possible papers associated with this exact author name in Arrow. This page groups case-insensitive exact name matches and is not a full identity disambiguation profile.

2 papers

1 author row

ICRA Conference 1996 Conference Paper

Collision free navigation using heuristic decision rule

Dae-Hee Kang
Hideki Hashimoto
Fumio Harashima

Real-time obstacle avoidance is essential for the safe operation of mobile robots in a dynamically changing environment. This paper investigates how an mobile robot can respond to unexpected obstacles while following a path planned by a global path planner. The obstacle avoidance problem is formulated using a decision theory to determine an optimal response based on inaccurate sensor data. It is shown that our proposed method avoids properly obstacles through simulation results.

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IROS Conference 1995 Conference Paper

Position estimation for mobile robot using sensor fusion

Dae-Hee Kang
Hideki Hashimoto
Fumio Harashima

Proposes a position estimation method and a path generation between current position and goal point for mobile robots. Dead reckoning has been commonly used for position estimation. However this method has inherent problems because it also accumulates estimation errors. In this paper, the authors propose a new method to increase the accuracy of estimated positions using a matching method which is applied with a least squared scheme. This approach uses features, such as corner points and edges of the object in the task environment instead of land-marks. Also, the authors discuss how to establish an environment database and propose a genetic algorithm in order to find an optimal path. It is shown that: it is possible to estimate the position of mobile robot precisely, errors are not cumulated, and the path generation method is very fast.

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