• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 2021.10a
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• pp.94-96
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• 2021

In this paper, we develop a new navigation algorithm for industrial mobile robots to arrive at the destination in unknown environment. To achieve this, we suggest a navigation algorithm that combines Dynamic Window Approach (DWA) and Dijkstra path planning algorithm. We compare Local Dynamic Window Approach (LDWA), Global Dynamic Window Approach(GDWA), Rapidly-exploring Random Tree (RRT) Algorithm. The navigation algorithm using Dijkstra algorithm combined with LDWA and GDWA makes mobile robots to reach the destination. and obstacles faced during the path planning process of LDWA and GDWA. Then, we compare on time taken to arrive at the destination, obstacle avoidance and computation complexity of each algorithm. To overcome the limitation, we seek ways to use the optimized navigation algorithm for industrial use.

• Journal of the Korean Institute of Telematics and Electronics S
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• v.35S no.6
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• pp.36-45
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• 1998

This paper discusses multiple access control aspects for a wireless extension of high-speed asynchronous transfer mode(ATM) networks. One challenging requirement is that mobile systems convey of diverse types of information including voice, computer data, facsimile, and video data that have different quality of service constraints. Basically, a centralized control scheme for a coordinated multiple access is required in order to efficiently accommodate multimedia traffic on wireless links. The proposed scheme dynamically scheduling the mobile terminal, which has data to transfer according to the service, types at base station. In this scheme, the scheduling algorithm is performed on the basis of traffic descriptors and QoS parameters, which required in the connection set up phase. As a consequence, the transmission scheduling is very flexible and can account for the different traffic rate and delay constraints that emerge from voice and data integration. The simulation result shows that the proposed scheme has better performance over other scheduling algorithms.

• Journal of Korean Society of Transportation
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• v.19 no.4
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• pp.85-96
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• 2001

This paper discusses the problem of finding the Origin-Destination(O-D) shortest path in urban road networks that have variable special qualifies such as time windows for passing as well as geometrical special qualities such as U-turn and left-turn prohibition. The focus of this paper is motivated by the problem of finding minimum travel time paths for an advanced traveler information system (ATIS) in the context of intelligent transportation system(ITS) application. The transportation network with variable and geometrical special qualities is a more realistic representation of the urban road network in the real word. But, the traditional and existing shortest path algorithms can not search practical shortest path that variable special quality is reflected. This paper presents a shortest path algorithm which can search reasonable shortest path information for the urban ATIS application within a real time. The algorithm is based on genetic algorithm(GA). The high performance of the proposed algorithm is demonstrated by computer simulations.

• Journal of the Institute of Electronics Engineers of Korea TC
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• v.40 no.10
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• pp.89-94
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• 2003

Passive Optical Network(PON) architecture is a very simple. However media access protocol is necessary to the PON because the ONUs should share a channel in the upsteam direction. We propose the design of dynamic bandwidth allocation algorithm for improved bandwidth utilization in the broad bandwidth access network that uses Ethernet PON. The object of our study shall be to decrease a unused remainder bandwidth of granted timeslot for a upstream traffic transmission. We propose that OLT notifies ONU of maximum transmission window during discovery and ONU request a amount under maximum transmission window after it checks a frame length. We confirm that the proposed algorithm shown improving performance from bandwidth utilization and queueing delay point of view through the simulation result.

• Journal of the Korea Institute of Military Science and Technology
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• v.24 no.1
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• pp.61-69
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• 2021

Recently, autonomous navigation technology is actively being developed due to the increasing demand of an unmanned surface vehicle(USV). Local planning is essential for the USV to safely reach its destination along paths. the dynamic window approach(DWA) algorithm is a well-known navigation scheme as a local path planning. However, the existing DWA algorithm does not consider path line tracking, and the fixed weight coefficient of the evaluation function, which is a core part, cannot provide flexible path planning for all situations. Therefore, in this paper, we propose a new DWA algorithm that can follow path lines in all situations. Fixed weight coefficients were trained using reinforcement learning(RL) which has been actively studied recently. We implemented the simulation and compared the existing DWA algorithm with the DWA algorithm proposed in this paper. As a result, we confirmed the effectiveness of the proposed algorithm.

• Journal of the Korea Institute of Military Science and Technology
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• v.25 no.6
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• pp.586-595
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• 2022

In this paper, we propose a formation control algorithm for multi-USVs according to COLREGs. First, we applied the Dynamic Window Approach algorithm that can reflect the kinematic characteristics for the path movement of USVs. Then, we propose a virtual structure-based virtual leader-follower method that applies the advantages of leader-follower and virtual structure methods among conventional formation control algorithms for stability. Next, we proposed a collision avoidance algorithm according to all COLREGs when encountering an opposing ship by adding COLREGs situational conditions to the virtual leader, and finally confirmed the feasibility of the proposed method through simulation.