• Journal of Korea Game Society
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• v.6 no.3
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• pp.3-12
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• 2006

Path-finding, one of the traditional Game A.I. problems, becomes an important issue to make games more realistic. Due to the limited resources in the computer system, path-finding systems sometimes produce a simplified and unrealistic path. The most relent researches have been focused on the path-finding avoiding only static obstacles. Various moving obstacles are however deployed in real games, a method avoiding those obstacles and producing a smooth path is necessary. In this paper, navigation mesh is used to represent 3D space and its topological characteristics are used for path-finding. Intellectual repulser and attractor are also used to avoid moving obstacles and to find an optimal path. We have evaluated the path produced by the method proposed in this paper and verified its usability in real game.

• Journal of Power System Engineering
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• v.5 no.2
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• pp.79-86
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• 2001

A method is presented for generating the path which significantly reduces residual vibration of the redundant, flexible robot manipulator in the presence of obstacles. The desired path is optimally designed so that the system completes the required move with minimum residual vibration, avoiding obstacles. The dynamic model and optimal path are effectively formulated and computed by using special moving coordinate, called VLCS, to represent the link flexibility. The path to be designed is developed by a combined Fourier series and polynomial function to satisfy both the convergence and boundary condition matching problems. The concept of correlation coefficients is used to select the minimum number of design variables. A planar three-link manipualtor is used to evaluate this method. Results show that residual vibration can be drastically reduced by selecting an appropriate path, in the presence of obstacles.

• Journal of the Korean Society for Precision Engineering
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• v.17 no.8
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• pp.189-197
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• 2000

This paper addresses that the autonomous mobile robot with the function of teaching a moving path by speech and avoiding a collision is developed. The use of human speech as the teaching method provides more convenient user-interface for a mobile robot. In speech recognition system a speech recognition algorithm using neural is proposed to recognize Korean syllable. For the safe navigation the autonomous mobile robot needs abilities to recognize a surrounding environment and to avoid collision with obstacles. To obtain the distance from the mobile robot to the various obstacles in surrounding environment ultrasonic sensors is used. By the navigation algorithm the robot forecasts the collision possibility with obstacles and modifies a moving path if it detects a dangerous obstacle.

• Proceedings of the Korean Institute of Intelligent Systems Conference
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• 2000.11a
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• pp.269-273
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• 2000

This paper proposes a algorithm for several mobile robots navigation. There are three parts in this algorithm. First part generates robots turning angle and moving distance for goal approaching, sencond part generates robots avoiding angle and avoiding distance for static obstacles or other robots and third part adjust between robots moving distance and avoiding distance. Most simulation results of this algorithm are very effective for several mobile robots traveling in unknown field.

• Journal of Institute of Control, Robotics and Systems
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• v.16 no.5
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• pp.463-468
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• 2010

An obstacle avoidance method for a mobile robot is proposed in this paper. Our research was focused on the obstacles that can be found indoors since a robot is usually used within a building. It is necessary that the robot maintain the desired direction after successfully avoiding the obstacles to achieve a good autonomous navigation performance for the specified project mission. Sensors such as laser, ultrasound, and PSD (Position Sensitive Detector) can be used to detect and analyze the obstacles. A PSD sensor was used to detect and measure the height and width of the obstacles on the floor. The PSD sensor was carefully calibrated before measuring the obstacles to achieve better accuracy. Data obtained from the repeated experiments were used to plot an error graph which was fitted to a polynomial curve. The polynomial equation was used to navigate the robot. We also obtained a direction-error model of the robot after avoiding the obstacles. The prototypes for the obstacle and direction-error were modeled using a neural network whose inputs are the obstacle height, robot speed, direction of the wheels, and the error in direction. A mobile robot operated by a notebook computer was setup and the proposed algorithm was used to navigate the robot and avoid the obstacles. The results showed that our algorithm performed very well during the experiments.

• Proceedings of the Korean Institute of Intelligent Systems Conference
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• 2004.04a
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• pp.139-143
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• 2004

Lee et al have proposed a framework for the linguistic map-based navigational planning of a mobile robot on dynamic environment and provided simulation results applied it to the static environment[1], In this paper, we extends the navigational planning of a mobile robot into dynamic environment. There are two kinds of dynamic obstacles： (1) Time-obstacles that change condition of obstacles with time. (2) Space-obstacles that move their position with time. We propose an algorithm which a mobile robot identifies and avoids the two kinds of dynamic obstacles. The proposed algorithm consists of two stages： (1) The fuzzy logic-based perception stage which identifies the dynamic obstacles around a mobile robot by using sensory data and fuzzy rules, (2) The planning stage which plans the path to goal by avoiding the dynamic obstacles[2-6]. We provide computer simulation results for a mobile robot in order to show the validity of the proposed algorithm.

• Journal of Korean Institute of Industrial Engineers
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• v.28 no.1
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• pp.25-35
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• 2002

This paper presents a heuristic algorithm that a mobile robot avoids obstacles using optical flow. Using optical flow, the mobile robot can easily avoid static obstacles without a prior position information as well as moving obstacles with unknown trajectories. The mobile robot in this paper is able to recognize the locations or routes of obstacles, which can be detected by obtaining 2-dimensional optical flow information from a CCD camera. It predicts the possibilities of crash with obstacles based on the comparison between planned routes and the obstacle routes. Then it modifies its driving route if necessary. Driving acceleration and angular velocity of mobile robot are applied as controlling variables of avoidance. The corresponding simulation test is performed to verify the effectiveness of these factors. The results of simulation show that the mobile robot can reach the goal with avoiding obstacles which have variable routes and speed.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.63 no.1
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• pp.108-114
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• 2014

This paper proposes a generation method of a navigation guidance direction and a fuzzy controller to achieve the autonomous navigation of a mobile robot using a particle swarm optimization(PSO) scheme in unknown environments. The proposed navigation guidance direction is the direction that leads a mobile robot to arrive a target point simultaneously with avoiding obstacles efficiently according to the surrounding local informations. It is generated by selecting the most suitable direction of the many directions in the surrounding environment using a particle swarm optimization scheme. Also, a robot can reach a target point with avoiding the various obstacles by controlling the robot so that it can move from its current orientation to the navigation guidance direction using the proposed fuzzy controller. Simulation results are presented to show the feasibility and validity of the proposed robot navigation scheme.

• Proceedings of the IEEK Conference
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• 1999.06a
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• pp.1113-1116
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• 1999

For mobile robot, the navigation effectiveness can be improved by providing autonomy, but this autonomy requires the mobile robot to detect unknown obstacles and avoid collisions while moving it toward the target. This paper presents an effective method for autonomous navigation of the mobile robot in structured environments. This method uses ultrasonic sensor array to detect obstacles and utilizes force relationship between the obstacles and the target for avoiding collisions. Accuracy of sensory data produced by ultrasonic sensors is improved by employing error eliminating rapid ultrasonic firing (EERUF) technique. Navigation algorithm controlling both the velocity and steering simultaneously is developed, implemented to the mobile robot and tested on the floor filled with the cluttered obstacles. It is verified that from the results of the field tests the mobile robot can move at a maximum speed of 0.66 m/sec without any collisions.

• Journal of Institute of Control, Robotics and Systems
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• v.17 no.12
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• pp.1227-1233
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• 2011

An effective method of obstacle avoidance for omni-directional mobile robots is proposed to avoid moving obstacles in dynamic environments. Our method uses the concept of circle lists which represent the trajectories of robot and obstacles. This method predicts not only collision position but also collision time, and hence it enables the robot avoiding the most urgent collision first. In order to avoid obstacles, our method uses artificial repulsive force and contraction force. Simulation results show that the robot could avoid obstacles effectively.