• Journal of KIISE
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• v.43 no.9
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• pp.1026-1033
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• 2016

Path-finding on a grid map is a problem generally addressed in the fields of robotics, intelligent agents, and computer games. As technology advances, virtual game worlds tend to be represented more accurately and more realistically, resulting in an excessive increase in the number of grid tiles and in path-search time. In this study, we propose a path-finding algorithm that allows a prompt response to real-time queries by constructing a reduced state space and by precomputing all possible paths in an offline preprocessing stage. In the preprocessing stage, we vertically decompose free space on the grid map, construct a connectivity graph where nodes are the decomposed regions, and store paths between all pairs of nodes in matrix form. In the real-time query stage, we first find the nodes containing the query points and then retrieve the corresponding stored path. The proposed method is simulated for a set of maps that has been used as a benchmark for grid-based path finding. The simulation results show that the state space and the search time decrease significantly.

• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.2033-2038
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• 2003

This paper describes an integrated navigation strategy for the autonomous service robot PSR. The PSR is under development at the KIST for service tasks in indoor public environments. The PSR is a multi-functional mobile-manipulator typed agent, which works in daily life. Major advantages of proposed navigation are as follows: 1) Structured control architecture for a systematic integration of various software modules. A Petri net based configuration design enables stable control flow of a robot. 2) A range sensor based generalized scheme of navigation. Any range sensor can be selectively applied using the proposed navigation scheme. 3) No need for modification of environments. (No use of artificial landmarks.) 4) Hybrid approaches combining reactive behavior as well as deliberative planner, and local grid maps as well as global topological maps. A presented experimental result shows that the proposed navigation scheme is useful for mobile service robot in practical applications.

• Proceedings of the KIEE Conference
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• 2002.11c
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• pp.159-162
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• 2002

This paper presents a modified localization scheme of a mobile robot. When it navigates, the position error of a robot is increased and doesn't go to a goal point where the robot intends to go at the beginning. The objective of localization is to estimate the position of a robot precisely. Many algorithms were developed and still are being researched for localization of a mobile robot at present. Among them, a localization algorithm named continuous localization proposed by Schultz has some merits on real-time navigation and is easy to be implemented compared to other localization schemes. Continuous Localization (CL) is based on map-matching algorithm with global and local maps using only ultrasonic sensors for making grid maps. However, CL has some problems in the process of searching the best-scored-map, when it is applied to a mobile robot. We here propose fast and powerful map-matching algorithm for localization of a mobile robot by experiments.

• Proceedings of the Korea Water Resources Association Conference
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• 2010.05a
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• pp.659-663
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• 2010

In recent, flood inundation damages by hydraulic structure failures have increased drastically and thus a variety of countermeasures were needed to minimize such damages. A real-time flood inundation prediction technique is essential to protect and mitigate flood inundation damages. In the context of real time flood inundation modeling, this study aims to develop a grid based two-dimensional numerical method for flood inundation modeling using globally-available DEM data: SRTM with $90m{\times}90m$ spatial resolution. The newly-developed model guarantees computational efficiency in terms of geometric data processing by direct application of DEM for flood inundation modeling and also have good compatibility with various types of raster data when compared to a commercial model such as FLUMEN. The model, which employed the leap-frog algorithm to solve shallow water and continuity equations, can simulate inundating flow from channel to lowland and also returning flow from lowland to channel by comparing water levels between channel and lowland in real time. We applied the model to simulate the BaekSan levee break in the Nam river during a flood period from August 10 to 13, 2002. The simulation results had good agreements with the field-surveyed data in terms of inundated area and also showed physically-acceptable velocity vector maps with respect to inundating and returning flows.

• The Journal of Korea Robotics Society
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• v.8 no.4
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• pp.256-265
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• 2013

A local map-based exploration algorithm for mobile robots is presented. Segmented frontiers and their relative transformations constitute a tree structure. By the proposed efficient frontier segmentation and a local map management method, a robot can reduce the unknown area and update the local grid map which is assigned to each frontier node. Although this local map-based exploration method uses only local maps and their adjacent node information, mapping completion and efficiency can be greatly improved by merging and updating the frontier nodes. Also, we suggest appropriate graph search exploration methods for corridor and hall environments. The simulation demonstrates that the entire environment can be represented by well-distributed frontier nodes.

• The Journal of Korea Robotics Society
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• v.17 no.4
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• pp.397-406
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• 2022

This paper presents an autonomous mobile robot (AMR) system and operation algorithms for logistic and factory facilities without magnet-lines installation. Unlike widely used AMR systems, we propose an EKF-based loosely coupled fusion of LiDAR measurements and visual markers. Our method first constructs occupancy grid and visual marker map in the mapping process and utilizes prebuilt maps for precise localization. Also, we developed a waypoint-based navigation pipeline for robust autonomous operation in unconstrained environments. The proposed system estimates the robot pose using by updating the state with the fusion of visual marker and LiDAR measurements. Finally, we tested the proposed method in indoor environments and existing factory facilities for evaluation. In experimental results, this paper represents the performance of our system compared to the well-known LiDAR-based localization and navigation system.

• Journal of the Korean Geographical Society
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• v.49 no.3
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• pp.438-455
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• 2014

This study aims at providing a set of viable answers regarding the projection and cartographic scale of Daedongyeojido through a GIS-based planimetric accuracy analysis. Both global and local analyses were undertaken in the use of an analytical tool, MapAnalyst. The main results from the global analysis are threefold. First, the overall cartographic scale turned out to be between 1:158,000 and 1:162,000. Second, the rotation angles were between $2^{\circ}$ and $3^{\circ}$, and the equidistant cylindrical projection reported the smallest value. Third, in terms of position accuracy, the conformal cylindrical projection showed a best fit to the map. A local analysis was undertaken for the conformal cylindrical and equidistant azimuthal projections and its main results are threefold. First, the largest distortions in terms of the displacement vectors and distortion grid were found in the northern borderlands. Second, from the isoline maps of scales, it was acknowledged that local scales between 1:170,000 and 1:175,000 were found around the middle part of the Korean peninsula centered on Seoul. As away from the region to the north-south direction, increasingly larger scales were distributed, while the smallest ones were found in the western and eastern edges of the peninsula. Third, from the isoline maps of rotation, it was known that areas west of a northernmost city (Junggangjin) were substantially rotated to the west, while ones east of it to the east. For a more sophisticated analysis, some need to be done to have a larger set of control points, a better way of postulating the map projection, and a more advanced set of techniques for a local analysis.

• Proceedings of the Earthquake Engineering Society of Korea Conference
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• 1997.10a
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• pp.11-26
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• 1997

It has knows that the seismicity of the Korean Peninsula is relatively inactive than those of adjacent northern China and southwestern Japan. Recently the review of long term historical records and recent seismicity. In addition, it is considered that the modern society is more vulnerable to seismic hazard because of high urbanization and industrialization. From this viewpoint, the improvement and modification of the present regulation for aseismic design is strongly proposed. The purpose of the present study is to prepare seismic hazard maps for Korea to be used in improving the present regulation. The present study was performed as a cooperative project of eight Korean seismologists. Each seismologist calculated independently seismic hazard value at the given grid points based on his own judgement about methodology and seismicity. Then the values are unified with equal weight to produce a seismic hazard map. Seven seismic hazard maps for peak acceleration with 10 percentile probability of exceedance in 5, 10, 20, 50, 100, 250, 500 years are presented. This probability of exceedancd in such years corresponds to return period of 48, 95, 190, 475, 950, 2373, 4747 years, respectively. It is recommended to use a hazard map to be selected on the basis of the importance and the design level of structures.

• Journal of Korea Water Resources Association
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• v.33 no.1
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• pp.61-72
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• 2000

The purpose of this study is to improve the method of evaluating groundwater recharge by using grid-based soil moisture routing technique. A model which predicts temporal variation and spatial distribution of soil moisture on a daily time step was developed. The model uses ASCII-formatted map data supported by the irregular gridded map of the GRASS(Geographic Resources Analysis Support System)-GIS and can generate daily and monthly spatial distribution map of surface runoff, soil moisture content, evapotranspiration within the watershed. The model was applied to Ipyunggyo watershed($75.6\;\textrm{km}^2$) located in the upstream of Bocheongchun watershed. Seven maps; DEM(Digital Elevation Mode]), stream, flow path, soil, land use, Thiessen network and free groundwater level, were used for input data. Predicted streamflows resulting from two years (l995, 1996) daily data were compared with the observed values at the watershed outlet. The results of temporal variations and spatial distributions of soil moisture are presented by using GRASS GIS. As a final result, the monthly predicted groundwater recharge was presented.sented.

• The Journal of Korea Robotics Society
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• v.6 no.1
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• pp.42-48
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• 2011

It is very important for a mobile robot to recognize and model its environments for navigation. However, the grid map constructed by sonar sensors cannot accurately represent the environment, especially the narrow environment, due to the angular uncertainty of sonar data. Therefore, we propose a map building scheme which combines sonar sensors and IR sensors. The maps built by sonar sensors and IR sensors are combined with different weights which are determined by the degree of translational and rotational motion of a robot. To increase the effectiveness of sensor fusion, we also propose optimal sensor arrangement through various experiments. The experimental results show that the proposed method can represent the environment such as narrow corridor and open door more accurately than conventional sonar sensor-based map building methods.