• 제어로봇시스템학회:학술대회논문집
• /
• 2003.10a
• /
• pp.174-179
• /
• 2003

Through the simultaneous localization and map building (SLAM) technique, a robot can create maps about its unknown environment while it continuously localizes its position. Grid maps and feature maps have been widely used for SLAM together with application of probability methods and POMDP (partially observed Markov decision process). But this approach based on grid maps suffers from enormous computational burden. Topological maps, however, have drawn more attention these days because they are compact, provide natural interfaces, and are easily applicable to path planning in comparison with grid maps. Some topological SLAM techniques like GVG (generalized Voronoi diagram) were introduced, but it enables the robot to decide only whether the current position is part of GVG branch or not in the GVG algorithm. In this paper, therefore, to overcome these problems, we present a method for updating a global topological map from the local topological maps. These local topological maps are created through a labeled Voronoi diagram algorithm from the local grid map built based on the sensor information at the current robot position. And the nodes of a local topological map can be utilized as the features of the environment because it is robust in light of visibility problem. The geometric information of the feature is applied to the extended Kalman filter and the SLAM in the indoor environment is accomplished. A series of simulations have been conducted using a two-wheeled mobile robot equipped with a laser scanner. It is shown that the proposed scheme can be applied relatively well.

• Journal of Institute of Control, Robotics and Systems
• /
• v.7 no.9
• /
• pp.783-789
• /
• 2001

The purpose of this study is to build and to manage environment models with line segments from the sonar range data on obstacles in unknown and varied environments. The proposed method subsequently employs a two-stage data-transform process in order to extract environmental line segments from the range data on obstacles. In the first stage, the occupancy grid extracted from the range data is accumulated to a two-dimensional local histogram grid. In the second stage, a line histogram extracted from an local histogram gird is based on a Hough transform, and matching is a process of comparing each of the segments in the global line segments map against the line segments to detect similarity in overlap, orientation, and arrangement. Each of these tests is made by comparing one of the parameters in the segment representation. After the tests, new line segments are composed to the global line segments map. The proposed technique is illustrated by experiments in an indoor environment.

• Journal of the Korea Institute of Military Science and Technology
• /
• v.14 no.3
• /
• pp.327-334
• /
• 2011

It is necessary that UGV(Unmanned Ground Vehicle) should generate a real-time travesability index map by analyzing raw terrain information to travel autonomously tough terrain which has various slope and roughness values. In this paper, we propose a local path planning method, $MA^*$(Modified $A^*$) algorithm, using DVGM (Directional Velocity Grid Map) for unmanned ground vehicle. We also present a path optimization algorithm and a path smoothing algorithm which regenerate a pre-planned local path by $MA^*$ algorithm into the reasonable local path considering the mobility of UGV. Field test is conducted with UGV in order to verify the performance of local path planning method using DVGM. The local path planned by $MA^*$ is compared with the result of $A^*$ to verify the safety and optimality of proposed algorithm.

• The KIPS Transactions:PartA
• /
• v.18A no.2
• /
• pp.75-80
• /
• 2011

Recently, many cleaning robots have been made with various algorithms for efficient cleaning. One of them is a DmaxCoverage algorithm which efficiently clean for the situation when the robot has a time limit. This algorithm uses Rectangle Tiling method for finding the biggest rectangle that doesn't have any obstacle. When the robot uses grid map, Rectangle Tiling method can find the optimal value. Rectangle Tiling method is to find all of the rectangles in the grid map. But when the grid map is big, it has a problem that spends a lot of times because of the large numbers of rectangles. In this paper, we propose Four Direction Rectangle Scanning(FDRS) method that has similar accuracy but faster than Rectangle Tiling method. FDRS method is not to find all of the rectangle, but to search the obstacle's all directions. We will show the FDRS method's performance by comparing of FDRS and Rectangle Tiling methods.

• Journal of the Korean Society for Precision Engineering
• /
• v.15 no.12
• /
• pp.212-219
• /
• 1998

During machining of dies and molds with sculptured surfaces. the cutter contact area changes continuously and results in cutting force variation. In order to implement cutting force prediction model into a CAM system, an effective and fast method is necessary. In this paper. a new method is proposed to predict mean cutting force. The cutter contact area in the spherical part of the cutter is obtained using Z-map, and expressed by the grids on the cutter plane orthogonal to the cutter axis. New empirical cutting parameters were defined to describe the cutting force in the spherical part of cutter. Before the mean cutting force calculation, the cutting force density in each grid is calculated and saved to force map on the cutter plane. The mean cutting force in an arbitrary cutter contact area can be easily calculated by summing up the cutting force density of the engaged grid of the force map. The proposed method was verifed through the slotting and slanted surface machining with various inclination angles. It was shown that the mean force can be calculated fast and effectively through the proposed method for any geometry including sculptured surfaces with cusp marks and holes.

• Transactions of the Korean Society for Noise and Vibration Engineering
• /
• v.24 no.10
• /
• pp.802-808
• /
• 2014

The purpose of this study is to suggest efficient methods for estimating population exposed to noises by analyzing differences of population exposed to noises estimated by each method through comparing exposed population estimated by utilizing existing methods and those estimated by using census output areas reflecting the actual population information of each address. For population exposed to noises, the error of exposed population estimated by using the per capita living space turned out to be the biggest, and other estimation methods had no significant difference. For population exposed to excess noises, as a result of analyzing population estimated by each method based on census output areas, the error of the method using a grid noise map turned out to be the biggest. For the method to estimate population exposed to noises by using a noise map, the estimation methods using census output areas and total ground area are considered to be more rational than the grid noise map estimation method or the method to estimate the living space per capita.

• 제어로봇시스템학회:학술대회논문집
• /
• 2002.10a
• /
• pp.38.3-38
• /
• 2002

$\textbullet$ The topological map using a thinning needs much simpler computation than that using a Voronoi. $\textbullet$ A thinning can provide much information on the environment (additional nodes). $\textbullet$ Each node created in a local map is considered as temporary and redundant nodes are discarded. $\textbullet$ A global topological map can be built fast and correctly through a thinning algorithm. $\textbullet$ Path planning can be easily achieved with a topological map.

• Journal of Korea Water Resources Association
• /
• v.31 no.3
• /
• pp.303-308
• /
• 1998

A grid-based KInematic were STOrm Runoff Model (KIMSTORM) with predicts temporal and spatial distributions of saturalted orerland flow, subsurface flow and stream flow in a watershed was developed. The model adopts the single overland flowpath algorithm and simulates surface and/or subsurface water depth at each grid element by using grid-based water balance of hydrologic components. The model which is programmed by C-language uses ASCII-formatted map data supported by the irregular gridded map of the GRASS(Geographic Resources Analysis Support System) GIS and generates the spatial distribution maps of discharge, flow depth and soil moisture within the watershed.

• Journal of Mechanical Science and Technology
• /
• v.17 no.10
• /
• pp.1411-1422
• /
• 2003

The detection of free spaces between obstacles in a scene is a prerequisite for navigation of a mobile robot. Especially for stereo vision-based navigation, the problem of correspondence between two images is well known to be of crucial importance. This paper describes multi-range approach of area-based stereo matching for grid mapping and visual navigation in uncertain environment. Camera calibration parameters are optimized by evolutionary algorithm for successful stereo matching. To obtain reliable disparity information from both images, stereo images are to be decomposed into three pairs of images with different resolution based on measurement of disparities. The advantage of multi-range approach is that we can get more reliable disparity in each defined range because disparities from high resolution image are used for farther object a while disparities from low resolution images are used for close objects. The reliable disparity map is combined through post-processing for rejecting incorrect disparity information from each disparity map. The real distance from a disparity image is converted into an occupancy grid representation of a mobile robot. We have investigated the possibility of multi-range approach for the detection of obstacles and visual mapping through various experiments.

• Proceedings of the Korea Water Resources Association Conference
• /
• 2001.05a
• /
• pp.25-34
• /
• 2001

A grid-based KIneMatic wave soil-water EROsion and deposition Model (KIMEROM) that predicts temporal variation and spatial distribution of sediment transport in a watershed was developed. This model uses ASCII-formatted map data supported from the regular gridded map of GRASS (U.S. Army CERL, 1993)-GIS (Geographic Information Systems), and generates the distributed results by ASCIIl-formatted map data. For hydrologic process, the kinematic wave equation and Darcy equation were used to simulate surface and subsurface flow, respectively (Kim, 1798; Kim et al., 1993). For soil erosion process, the physically-based soil erosion concept by Rose and Hairsine (1988) was used to simulate soil-water erosion and deposition. The model adopts sing1e overland flowpath algorithm and simulates surface and subsurface water depth, and sediment concentration at each grid element (or a given time increment. The model was tested to a 162.3 km$^2$ watershed located in the tideland reclaimed area of South Korea. After the hydrologic calibration for two storm events in 1999, the results of sediment transport were presented for the same storm events. The results of temporal variation and spatial distribution of overland flow and sediment areas are shown using GRASS.