• 항공우주시스템공학회지
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• 제14권2호
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• pp.1-11
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• 2020

Detecting obstacles and generating a suitable path to avoid obstacles in real time is a prime mission requirement for UAVs. In areas, close to buildings and people, detecting obstacles in the path and estimating its own position (egomotion) in GPS degraded/denied environments are usually addressed with vision-based Simultaneous Localization and Mapping (SLAM) techniques. This presents possibilities and challenges for the feasible path generation with constraints of vehicle dynamics in the configuration space. In this paper, a near real-time feasible path is shown to be generated in the ORB-SLAM framework using a chain-based path planning approach in a force field with dynamic constraints on path length and minimum turn radius. The chain-based path plan approach generates a set of nodes which moves in a force field that permits modifications of path rapidly in real time as the reward function changes. This is different from the usual approach of generating potentials in the entire search space around UAV, instead a set of connected waypoints in a simulated chain. The popular ORB-SLAM, suited for real time approach is used for building the map of the environment and UAV position and the UAV path is then generated continuously in the shortest time to navigate to the goal position. The principal contribution are (a) Chain-based path planning approach with built in obstacle avoidance in conjunction with ORB-SLAM for the first time, (b) Generation of path with minimum overheads and (c) Implementation in near real time.

• 항공우주시스템공학회지
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• 제18권2호
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• pp.56-63
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• 2024

무인 이동체의 안전성이 점차 증대되면서 빌딩과 같은 장애물이 많은 도심환경에서의 무인 이동체의 활용이 증가할 것으로 예상된다. 도심 환경에서 다수의 무인 이동체가 운용될 경우, 임무 할당 뿐만 아니라 정적 및 동적 장애물 회피와 더불어 상호 충돌 회피가 가능한 경로를 생성하는 알고리듬이 필요하다. 본 논문에서는 임무 할당 및 경로 계획을 수행하는 알고리듬을 제안한다. 장애물 및 경로 계획을 효율적으로 수행하기 위해 맵을 격자 기반으로 구성한 다음 경로를 도출하였다. 동적인 환경에서 빠르게 재계획하기 위해 계산 시간 단축에 집중하였다. 시뮬레이션을 통해 작은 규모의 문제에서 장애물 회피 및 상호 충돌 회피 방안에 대해 설명하였고, 큰 규모의 문제에서 임무 전체 종료 시간(Makespan)을 관찰하여 성능을 확인하였다.

• 한국항행학회논문지
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• 제28권4호
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• pp.400-407
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• 2024

현대전에서 무인기의 역할은 지속해서 커지고 있으며, 무인기의 자율적 임무 수행 능력이 필요해지고 있다. 따라서, 촬영 영상을 기반으로한 무인기의 자율적인 표적 탐지/식별이 필수적이다. 하지만, 영상인식 인공지능 모델의 표적 인식률은 영상 내 표적의 선명도에 따라 큰 영향을 받는다. 따라서 본 연구에서는 요구 공간해상도를 고려한 촬영 장비의 화각 및 무인기의 비행 위치를 결정하는 방법을 다룬다. 먼저, 촬영하고자 하는 좌표에 대한 무인기의 상대 고도, 지면 거리, 그리고 촬영 화각에 따라 촬영 영역의 크기를 계산 방법을 다룬다. 이 방법을 통해, 본 논문에서는 촬영하고자 하는 공간해상도를 만족시킬 수 있는 촬영 영역의 넓이를 먼저 계산하고, 이를 만족할 수 있는 무인기의 상대 고도, 지면 거리, 그리고 촬영 화각을 계산한다. 또한, 촬영하고자 하는 좌표를 중심으로 요구되는 공간해상도를 만족시킬 수 있는 촬영 화각에 따른 무인기의 유효한 위치 범위를 계산하고, 이를 촬영 임무 계획에 활용할 수 있도록 표 형식으로 가공하는 방법을 제안한다.

• 한국군사과학기술학회지
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• 제19권6호
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• pp.779-788
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• 2016

In this paper, a global path replanning method is proposed in order to plan a global path minimizing the risk of the unmanned vehicle on the battlefield. We first introduce 4D environmental information consisting of mobility, visibility, kill, and hit attributes, and a unified threat map and a mobility map are defined by the four attributes. Using the mobility map, the unmanned vehicle can find the shortest path on the traversable area. And then taking into account the deterrent according to the type of the unmanned vehicle on the integrated threat map, the vehicle can generate a route to suppress or avoid the threat of enemy as well. Moreover, we present a waypoints bypassing method to exclude unnecessary waypoints rather than the mission point when planning paths for the multiple waypoints.

• 신재생에너지
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• 제4권1호
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• pp.25-30
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• 2008

The R&D budget of energy technology development has increased in the sector of korean energy technology development continuously. In addition to that, KIER, the government invested research institute and unique energy technology R&D research institute, is trying to plan for a big-sized energy R&D program for the well focused R&D and excellent research outcomes. In the phase of R&D process, the planning is one of the most important sectors because it drives the direction of R&D. In this study, we suggest the assessment criteria to select a strategic energy technology R&D programs by the analytic hierarchy process, which is one of multi-criteria decision making method (MCDM)We structure 2 tiers of hierarchy for assessing a big-sized R&D program and also establish 6 criteria in the level 1, which are energy environment, economic spin-off, technical spin-off, marketability, KIER mission, and cost. We allocate the relative weights of criteria by checking the values of consistency ratio as making pairwise comparisons. The result of this research will provide the decision makers as they select a right well focused R&D program.

• 한국실내디자인학회논문집
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• 제19권5호
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• pp.29-37
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• 2010

The objective of correction is to let criminals receive education, be reformed and get vocational training during prison term by being separated from society and live as sound citizens after being released from prison. The facilities that execute such mission are referred to as corrective institution, and in Korea, some 47,000 persons are accommodated at 50 locations. Corrective facilities are facilities existing to separate and accommodate criminals safely, and return them to society after eliminating criminal nature from the convicts during the accommodation period. But corrective facilities in Korea representing the characteristics of corrective facilities vividly focusing on security. Therefore, while present pursuit of corrective facilities is to seek for reformation of criminals rather than separation of them from society, existing prison buildings are not appropriate facilitated at the moment. This study has the purpose to planning of indoor environment of corrective facility ward building as healing environment. Specifically, this study is contributing to propose a model of criminals healing environment equivalent to hospital facility to raise the effect of healing the criminal nature of criminals and cut the period of restoring them by applying healing environment elements and return the criminals to the society as successfully reformed social member.

• 한국신재생에너지학회:학술대회논문집
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• 한국신재생에너지학회 2007년도 추계학술대회 논문집
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• pp.690-693
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• 2007

The R&D budget of energy technology development has increased in the sector of Korean energy technology development continuously. In addition to that, KIER, the government invested research institute and unique energy technology R&D research institute, is trying to plan for a big-sized energy R&D program for the well focused R&D and excellent research outcomes. In the phase of R&D process, the planning is one of the most important sectors because it drives the direction of R&D. In this study, we suggest the assessment criteria to select a strategic energy technology R&D programs by the analytic hierarchy process, which is one of multi-criteria decision making method (MCDM). We structure 2 tiers of hierarchy for assessing a big-sized R&D program and also establish 6 criteria in the level 1, which are energy environment, economic spin-off, technical spin-off, marketability, KIER mission, and cost. We allocate the relative weights of criteria by checking the values of consistency ratio as making pairwise comparisons. The result of this research will provide the decision makers as they select a right well focused R&D program.

• 한국주거학회논문집
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• 제26권5호
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• pp.89-96
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• 2015

This project was conducted as part of the Building America program that proposed the overall mission to achieve 30-50% reduction in existing building energy use. The purposes of this project were to analyze architectural styles and features named as archetypes of existing homes within the Great Lakes regions that include Michigan and identify the dominant type that would offer significant potential for energy-efficient retrofit. Housing archetypes were analyzed according to vintage, style, and construction characteristics in two target cities within the region. The findings from an intensive case study targeting the City of Ann Arbor established a fundamental framework for characterizing local housing archetypes and determined the dominant housing archetype that needed energy-efficient retrofit. An extended case study then conducted in Grand Rapids additionally refined this framework for the future application. This paper explained the process and data collection method to develop the framework that can be utilized by other researchers to determine the target housing types for energy-retrofit research.

• 대한임베디드공학회논문지
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• 제13권2호
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• pp.65-71
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• 2018

In order to make the underwater vehicle carry out the mission in a submarine environment, it is needed to plan a safe and efficient route to a given destination and prevent the autonomous submersible from colliding with obstacles while moving along the planned route. The function of collision avoidance makes the travel distance of the autonomous submersible longer. Moreover, it should move slowly near to obstacles against their moving disturbance. As a result, this invokes the degradation of the navigation efficiency in the process of collision avoidance. The side effect of the collision avoidance is not ignorable in the case of high congested environments such as the coast with many obstacles. In this paper, we suggest a path planning method which provides the route with minimum travel time considering collision avoidance in congested environment. For the purpose, we define environmental congestion map related to geometric information and obstacles. And we propose a method to consider the moving cost in the RRT scheme that provides the existing minimum distance path. We verified that the efficiency of our algorithm with simulation experiments.

• 한국정보통신학회:학술대회논문집
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• 한국해양정보통신학회 2001년도 추계종합학술대회
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• pp.187-190
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• 2001

새로운 패러다임의 전환점에서 세계 각 국가는 시대적 당면 문제에 대한 해결 방안을 육지에서 찾기보다는 해양에서 찾으려는 노력을 더욱 경주되고 있다. 특히 우리 나라는 삼면이 바다로 둘러싸인 해양국가로서 해양의 중요성은 그 어느 나라보다도 큰 비중을 차지하고 있다. 해양강국 실현을 위해서는 해양GIS에 기반한 디지털 해양공간을 창조하는 것이 필수적이다. 본 계획은 우리 나라가 체계적이고 효율적인 해양GIS 인프라 구축을 위하여 국내·외 해양CIS 관련 현황과 법·계획을 분석하고, 해양GIS 기본 개념 정립을 통하여 해양GIS 구축 이념과 체계, 전략을 수립하는데 있다.