• The Journal of the Korea institute of electronic communication sciences
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• v.6 no.1
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• pp.148-156
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• 2011

This paper presents an implementation of autonomous navigation of a mobile robot indoors. It explains methods for map building, localization, obstacle avoidance and path planning. Geometric map is used for localization and path planning. The localization method calculates sensor data based on the map for comparison with the real sensor data. Monte Carlo Localization(MCL) method is adopted for estimation of the robot position. For obstacle avoidance, an artificial potential field generates repulsive and attractive force to the robot. Dijkstra algorithm plans the shortest distance path from a start position to a goal point. The methods integrate into autonomous navigation method and implemented for indoor navigation. The experiments show that the proposed method works well for safe autonomous navigation.

• Journal of the Korean Institute of Intelligent Systems
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• v.22 no.2
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• pp.161-167
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• 2012

This research deals with generating via points for autonomous navigation on a roadway for unmanned vehicles. When a vehicle plans a path from a starting point to a goal point, it should be able to map out which lane on which road it passes by. For this purpose, we should organize positional information of roads and save it as a database. This paper presents methods to save the database and to plan a shortest path to the goal by generating via points in consideration of the moving direction and the lane directions. Then we prove that the proposed algorithm can find the optimal path on the road through simulations.

• Journal of Korea Society of Industrial Information Systems
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• v.10 no.2
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• pp.13-20
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• 2005

An ad hoc wireless networks forms temporary network without the aid of fixed networks or centralized administration with a collection of wireless mobile hosts. In this case, it is necessary for one mobile host to enlist the aid of other hosts in forwarding a packet to its destination. This paper presents an efficient cluster-based routing protocol scheme for ad hoc networks. The cluster is used for path setup and data delivery. Our cluster-based routing algorithm is designed for the improvement of the load balance. Our simulation results show the improved performance for low mobility networks comparing with the previous works.

• Journal of the Korean association of regional geographers
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• v.13 no.5
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• pp.563-575
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• 2007

This study aims to investigate a possibility of using topographic information by web mapping in open environments. Web mapping intends to focus on a map analysis and application of the function and geo-visualization. Functions of Web topographic info-map include a spatial analysis, enlargement and minimization, movement, landuse information, user-controling 3 dimension map, landform cross-section analysis, shortest path analysis. The web system adopts SVG(scalable vector graphics), MYSQL, PHP, XML for mapping. SVG has open source policy, so everyone can use it, as well, it is effective on flexible database linkage, cartographic representation. 3D map is intended to represent 3D map by user-controlled sunshine putting pixel opacity by elevation values after making DEM. Landform is designed to show a cross-section analysis and statistics by retrieving height information from database engine with clicking two points on the map. Shortest path analysis within regions uses Dijkstra's algorithm. Near future, resultantly, the area of WebGIS will have to meet more social demands for use-created geo-information and application, so more researches are needed to be web mapping more applicable for users.

• Journal of the Korea Society of Computer and Information
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• v.12 no.2 s.46
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• pp.181-188
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• 2007

Undirected Rural Postman Problem(URPP) is a problem that finds a shortest tour traversing the given arcs at least once in a given network. The URPP is one of the basic network problems used in solving the various real-world problems. And it is known as NP-Complete. URPP is an arc-oriented problem that the direction of a tour in an arc has to be considered. Hence, In URPP, it is difficult to use the algorithm for Traveling Salesman Problem (TSP), which is a node-oriented problem, directly. This paper proposes the decoding algorithm using graph transformation in the genetic algorithm for URPP. That is, you can find the entire tour traversing without considering the direction of arcs by transforming the arc-oriented graph into the node-oriented graph. This paper compares the performances of the proposed algorithm with an existing algorithm. In the simulation results, the proposed algorithm obtained better than the existing algorithm

• Journal of the Korea Society of Computer and Information
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• v.10 no.1 s.33
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• pp.181-188
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• 2005

Chinese Postman Problem (CPP) is a problem that finds a shortest tour traversing all edges or arcs at least once in a given network. The Chinese Postman Problem on Mixed networks (MCPP) is a Practical generalization of the classical CPP and it has many real-world applications. The MCPP has been shown to be NP-complete. In this paper, we transform a mixed network into a symmetric network using virtual arcs that are shortest paths by Floyd's algorithm. With the transformed network, we propose a Genetic Algorithm (GA) that converges to a near optimal solution quickly by a multi-directional search technique. We study the chromosome structure used in the GA and it consists of a path string and an encoding string. An encoding method, a decoding method, and some genetic operators that are needed when the MCPP is solved using the Proposed GA are studied. . In addition, two scaling methods are used in proposed GA. We compare the performance of the GA with an existing Modified MDXED2 algorithm (Pearn et al. , 1995) In the simulation results, the proposed method is better than the existing methods in case the network has many edges, the Power Law scaling method is better than the Logarithmic scaling method.

• The KIPS Transactions:PartC
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• v.12C no.4 s.100
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• pp.543-550
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• 2005

Many routing algorithms, proposed for ad-hoc wireless networks, we based on source routing scheme and shortest path route has short lifetime especially in highly dense ad-hoc wireless networks. So some routing protocols such as SSA and ABR are considering the link stability and try finding more stable route. In this paper we propose a new routing algorithm considering utilization metric based on SSA routing algerian in Ad-Hoc networks. To reduce the bottleneck by specific metric of SSA, proposed scheme makes load balancing in networks by distributing the connections to several routes. For the evaluation of the performance we compare our scheme with existent routing protocol AODV and SSA. And the results, obtained using the ns-2 network simulation platform, show good performance that reduced the number of reconstructions remarkably by distributing the whole traffic to several routes when there are several stable routes.

• KIPS Transactions on Computer and Communication Systems
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• v.1 no.2
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• pp.79-86
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• 2012

An economic ship routing means to sail a ship with a goal of minimizing the fuel consumption by utilizing weather forecast information, and various such systems have been recently studied. For a successful economic ship routing system, an efficient algorithm is needed to search an optimal geographical path, and most of the previous systems were approaching to that problem through a minimal static-cost path search algorithm based on the Dijkstra algorithm. To apply that kind of search algorithm, the cost of every edge assigned with the estimated fuel consumption should be constant. However, that assumption is not practical at all considering that the actual fuel consumption is determined by the weather condition when the ship will pass the edge. To overcome such a limitation, we propose a new optimal ship routing system based on a minimal dynamic-cost path search algorithm by properly modifying the Dijkstra algorithm. In addition, we propose a method which efficiently reduces the search space by using the $A^*$ algorithm to decrease the running time. We compared our system with the shortest path-based sailing method over ten testing routes and observed that the former reduced the estimated fuel consumption than the latter by 2.36% on average and the maximum 4.82% with little difference of estimated time of arrival.

• Proceedings of the Korean Society of Broadcast Engineers Conference
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• 2012.11a
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• pp.29-30
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• 2012

본 논문은 고해상도의 깊이맵을 얻기 위해서 대응되는 색상 영상의 최대 변화도를 이용한 깊이맵 업샘플링 기술을 제안한다. 기존 알고리즘들이 인접한 화소의 깊이 값을 참조할 때 거리에 따른 가중치를 부여하는 것과 달리, 제안한 방법은 현재 화소와 참조 화소 사이의 최대 색차 변화도를 이용하여 가중치를 부여한다. 이런 접근 방법은 비슷한 색상의 물체가 서로 붙어 있거나 큰 크기의 객체가 존재할 경우에도 모두 올바른 가중치를 부여할 수 있다는 장점을 갖는다. 먼저, 색상 영상의 색차 성분에 대한 변화도 영상을 계산하고, 업샘플링하고자 하는 화소와 참조 화소 사이의 최단 경로 위에서 가장 큰 변화도를 취한다. 변화도가 클수록 다른 객체에 존재할 확률이 높기 때문에 변화도가 큰 참조 화소에는 작은 가중치를 부여하고, 이들의 가중합을 통해 최종 깊이 값을 계산한다. 제안한 방법을 이용하여 깊이맵을 업샘플링한 결과가 기존 알고리즘들에 비해 우수한 결과를 보였다.

• Proceedings of the Korea Information Processing Society Conference
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• 2004.05a
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• pp.1263-1266
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• 2004

무선 환경에서의 멀티캐스트 문제는 기존의 유선 환경에서와는 다른 접근방식을 필요로 한다. 기존 유선환경에서의 멀티캐스팅 문제가 링크기반 모델에서 접근을 한 반면 무선환경에서는 노드기반 모델로의 접근 방법이 무선환경의 잇점을 고려하는 것이 된다. 더욱이 게이트웨이나 라우터 등의 기반시설 없이 무선 노드들 만으로 구성된 Ad-hoc 네트워크에서는 멀티캐스트 문제에 추가적인 사항이 고려되어야 하는데 그 대표적인 것 중의 하나가 에너지이다. 보다 짧은 경로의 최단 전달시간 보다. 에너지의 소비를 줄일 수 있는 멀티캐스트 트리의 구성이 더 중요한 경우가 있다. 본 논문에서는 브로드캐스트 트리의 가지치기(prune) 방법을 향상하여 통신으로 인한 전력소비를 줄이는 멀티캐스트 트리 생성 알고리즘을 제안한다.