• Journal of the Korea Institute of Military Science and Technology
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• v.16 no.5
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• pp.583-589
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• 2013

In this paper, we proposed a system that efficiently provides support maps which includes the grid based terrain analysis information. To do this, we use the FDB which is defined as a GIS database that contains features with attributes attached to the features. The FDB is composed of a number of features and feature classes. In order to create support maps, it is necessary to classify feature classes that are associated with each support map and to search them in a grid map. The proposed system use a ontology model to classify semantically feature classes and the quad-tree data structure to find them in a grid map quickly. Therefore, our system is expected to be utilized for global path planning of UGV. In this paper, we show the possibility through an experimental implementation.

• The Journal of Korea Robotics Society
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• v.12 no.2
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• pp.152-160
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• 2017

Recent studies on automatic parking have actively adopted the technology developed for mobile robots. Among them, the path planning scheme plans a route for a vehicle to reach a target parking position while satisfying the kinematic constraints of the vehicle. However, previous methods require a large amount of computation and/or cannot be easily applied to different environmental conditions. Therefore, there is a need for a path planning scheme that is fast, efficient, and versatile. In this study, we use a multi-dimensional path grid map to solve the above problem. This multi-dimensional path grid map contains a route which has taken a vehicle's kinematic constraints into account; it can be used with the $A^*$ algorithm to plan an efficient path. The proposed method was verified using Prescan which is a simulation program based on MATLAB. It is shown that the proposed scheme can successfully be applied to both parallel and vertical parking in an efficient manner.

• Journal of the Korea Institute of Military Science and Technology
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• v.12 no.5
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• pp.549-556
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• 2009

One of the basic technology for implementing the autonomy of UGV(Unmanned Ground Vehicle) is a path planning algorithm using obstacle and raw terrain information which are gathered from perception sensors such as stereo camera and laser scanner. In this paper, we propose a generation method of DVGM(Directional Velocity Grid Map) which have traverse speed of UGV for the five heading directions except the rear one. The fuzzy system is designed to generate a resonable traveling speed for DVGM from current patch to the next one by using terrain slope, roughness and obstacle information extracted from raw world model data. A simulation is conducted with world model data sampled from real terrain so as to verify the performance of proposed fuzzy inference system.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2003.06a
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• pp.176-180
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• 2003

The paper presents an efficient method of extracting line segment in a local map of a robot's surroundings. The local map is composed of 2-D grids that have both the occupancy and orientation probabilities using sonar sensors. To find the shape of an object in a local map from orientation information, the orientations are clustered into several groups according to their values. The line segment is , then, extracted from the clusters based on Hough transform. The proposed technique is illustrated by experiments in an indoor environment.

• The Journal of Korea Robotics Society
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• v.4 no.3
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• pp.169-176
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• 2009

Low-cost sensors have been widely used for mobile robot navigation in recent years. However, navigation performance based on low-cost sensors is not good enough to be practically used. Among many navigation techniques, building of an accurate map is a fundamental task for service robots, and mapping with low-cost IR sensors was investigated in this research. The robot's orientation uncertainty was considered for mapping by modifying the Bayesian update formula. Then, the data association scheme was investigated to improve the quality of a built map when the robot's pose uncertainty was large. Six low-cost IR sensors mounted on the robot could not give rich data enough to align the range data by the scan matching method, so a new sample-based method was proposed for data association. The real experiments indicated that the mapping method proposed in this research was able to generate a useful map for navigation.

• Proceedings of the KIEE Conference
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• 2000.07d
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• pp.2840-2842
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• 2000

This paper describes sensor-based occupancy grid map construction method through complete coverage navigation algorithm in unknown environment. In this paper, we use the updated Baysian model for probabilistic grid map. For map construction, complete coverage navigation method in which mobile robot can navigate complete field through as short path as possible in unknown environment, is used. The computer simulations result show that map construction method using complete coverage algorithm is efficient.

• Journal of Korea Water Resources Association
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• v.55 no.1
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• pp.71-84
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• 2022

The objective of this study is to develop a two-dimensional (2D) flood model that can perform accurate flood analysis with simple input data. The 2D flood inundation models currently used to create flood forecast maps require complex input data and grid generation tools. This sometimes requires a lot of time and effort for flood modeling, and there may be difficulties in constructing input data depending on the situation. In order to compensate for these shortcomings, in this study, a grid-based model that can derive accurate and rapid flood analysis by reflecting correct topography as simple input data was developed. The calculation efficiency was improved by extending the existing 2×2 sub-grid model to a 5×5. In order to examine the accuracy and applicability of the model, it was applied to the Gamcheon Basin where both urban and river flooding occurred due to Typhoon Rusa. For efficient flood analysis according to user's selection, flood wave propagation patterns, accuracy and execution time according to grid size and number of sub-grids were investigated. The developed model is expected to be highly useful for flood disaster mapping as it can present the results of flooding analysis for various situations, from the flood inundation map showing accurate flooding to the flood risk map showing only approximate flooding.

• Journal of KIISE
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• v.44 no.6
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• pp.613-620
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• 2017

Skyline queries are used extensively to solve various problems, such as in decision-making, because they find data that meet a variety of user criteria. Recent research has focused on skyline queries by using the MapReduce framework for large database processing, mainly in terms of applying existing index structures to MapReduce. In a skyline, data closer to the origin dominate more area. However, the existing index structure does not reflect such characteristics of the skyline. In this paper, we propose a grid-block structure that groups grid cells to match the characteristics of a skyline, and a two-level grid-block structure that can be used even when there are no data close to the origin. We also propose an efficient skyline-query algorithm that uses the two-level grid-block structure.

• Journal of the Korean Society of Manufacturing Process Engineers
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• v.13 no.1
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• pp.30-38
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• 2014

The purpose of this study is to build and manage environment models with line segments from sonar range data on obstacles in unknown and varied environments. The proposed method therefore employs a two-stage data-transform process in order to extract environmental line segments from range data on obstacles. In the first stage, the occupancy grid extracted from the range data is accumulated to form a two-dimensional local histogram grid. In the second stage, a line histogram extracted from a local histogram grid is based on a Hough transform, and matching serves as a means of comparing each of the segments on a global line segments map against the line segments to detect the degree of similarity in the overlap, orientation, and arrangement. Each of these tests is formulated by comparing one of the parameters in the segment representation. After the tests, new line segments can be found at maximum-density cells in the line histogram, and they are composed onto the global line segment map. The proposed technique is demonstrated in experiments in an indoor environment.

• Proceedings of the Zoological Society Korea Conference
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• 1997.10a
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• pp.42-57
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• 1997

The multicriterion matrix technique (MM-technique) was proposed for a method of monitoring and assessment about vegetation naturalness. Four criteria and 10 subcriteria were selected and two evaluation indices such as VN-value and VN-class were used. The criteria were characterized by syntaxonomical informations of hemeroby concept and potential natural vegetation, hierarchical system between criteria, and ordinal scale of VN-values. VN-values were classified into 11 ordinal levels and condensed to five VN-classes for facilitating practical use. A vegetation map of naturalness described by combination o( two indices was proposed as an alternative resolution of the DGN map. We also discuss the organization of the map content which is a matter of grid size (unit-area). In the case study, a grid size proper to show a full account of real information of actual vegetation is less 250-grid (250 $\times$ 250 $m^2$) in a medium size of city area containing relatively fragmented ecosystems. In conclusion, it was recognized that this new assessment technique was useful and vegetation assessment was accomplished with the smaller grid size in Korea.