• Journal of the Korean Institute of Intelligent Systems
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• v.22 no.6
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• pp.687-693
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• 2012

In this paper, we propose a optimal deployment method for cooperative exploration of swarm robots. The proposed method consists of two parts such as optimal deployment and path planning. The optimal area deployment is proposed by the K-mean Algorithm and Voronoi tessellation. The path planning is proposed by the potential field method and A* Algorithm. Finally, the numerical experiments demonstrate the effectiveness and feasibility of the proposed method.

• Journal of Korean Society for Geospatial Information Science
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• v.22 no.3
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• pp.79-85
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• 2014

For the successful operation of unmanned ground vehicles(UGVs), optimal path planning should be considered with trafficability analysis, threat analysis, and so on. From among these, trafficability analysis is immensely important for safeness of UGVs especially in the case of driving the off-road such as unpaved road, grassland, and open fields. Geographical information has a pivotal role in extracting data and measuring cost for specified regions of interest. In this paper, we review possibilities to apply Land Cover Map(LCM) as a new, fundamental source and propose a new generation method of trafficability analysis map for optimal path planning of UGV. The simulation results show that the proposed method significantly improve the previous method by applying LCM either alone or in combination with the other GIS.

• Journal of Korean Society of Transportation
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• v.23 no.6 s.84
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• pp.19-30
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• 2005

The objective of this research is to keep track of path travel time using methods of collecting traffic data. Users of traffic information are looking for extensive information on path travel time, which is referred to as the time taken for traveling from the origin to the destination. However, all the information available is the average path travel times, which is a simple sum of the average link travel times. The average path travel time services are not up to the expectation of traffic information consumers. To improve provide more accurate path travel time services, this research makes a number of different estimates of various path travel times on one path, assuming it will be under the same condition, and provides a range of estimates with their probabilities to the consumers, who are looking for detailed information. To estimate the distribution of the path travel times as a combination of link travel times. this research analyzes the relation between the link travel time and path travel time. Based on the result of the estimation. this research develops the algorithm that combines the distribution of link travel time and estimates the path travel time based on the link travel times. This algorithm was tested and proven to be highly reliable for estimating the path traffic time.

• Journal of the Korean Institute of Intelligent Systems
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• v.22 no.2
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• pp.187-191
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• 2012

This paper deals with a safe climbing path planning for unmanned automatic vehicles. Unlike the existing path planning schemes, the safety is the highest priority for our approach. To achieve this, the global potential field which includes a dangerous zone as well a given terrain information is generated, and the way-points are determined by using image processing such as the erosion operation. The proposed method can reduce the computation effort and the amount of information, and provide the safe climbing path which is similar to human's intuition.

• The KIPS Transactions:PartB
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• v.18B no.3
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• pp.157-164
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• 2011

This paper presents a fast and scalable re-routing algorithm that adapts to dynamically changing networks. The proposed algorithm integrates Dijkstra's shortest path algorithm with the genetic algorithm. Dijkstra's algorithm is used to define the predecessor array that facilitates the initialization process of the genetic algorithm. After that, the genetic algorithm re-searches the optimal path through appropriate genetic operators under dynamic traffic situations. Experimental results demonstrate that the proposed algorithm produces routes with less traveling time and computational overhead than pure genetic algorithm-based approaches as well as the standard Dijkstra's algorithm for large-scale networks.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2013.05a
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• pp.445-446
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• 2013

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2010.05a
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• pp.87-88
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• 2010

• Proceedings of the Korean Society for Agricultural Machinery Conference
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• v.11 no.1
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• pp.75-81
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• 2006

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2011.06a
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• pp.381-382
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• 2011

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 2010.10a
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• pp.493-496
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• 2010

In this paper, We introduces 3 types of methods for estimation of a moving vehicle's CO2 emissions. These estimation methods include method based on distance traveled, method according to the calculation method proposed by the IPCC and method using vehicle information & chemical reaction equations. we describe the operating principle of each estimation method and we have driven down the actual road about 5km path because we compare performance of 3 types of methods for estimation of a driving vehicle's CO2 emissions.