• 제목/요약/키워드: Optimal Path Finding

검색결과 125건 처리시간 0.029초

상황인식 기반 지능형 최적 경로계획 (Intelligent Optimal Route Planning Based on Context Awareness)

  • 이현정;장용식
    • Asia pacific journal of information systems
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    • 제19권2호
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    • pp.117-137
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    • 2009
  • Recently, intelligent traffic information systems have enabled people to forecast traffic conditions before hitting the road. These convenient systems operate on the basis of data reflecting current road and traffic conditions as well as distance-based data between locations. Thanks to the rapid development of ubiquitous computing, tremendous context data have become readily available making vehicle route planning easier than ever. Previous research in relation to optimization of vehicle route planning merely focused on finding the optimal distance between locations. Contexts reflecting the road and traffic conditions were then not seriously treated as a way to resolve the optimal routing problems based on distance-based route planning, because this kind of information does not have much significant impact on traffic routing until a a complex traffic situation arises. Further, it was also not easy to take into full account the traffic contexts for resolving optimal routing problems because predicting the dynamic traffic situations was regarded a daunting task. However, with rapid increase in traffic complexity the importance of developing contexts reflecting data related to moving costs has emerged. Hence, this research proposes a framework designed to resolve an optimal route planning problem by taking full account of additional moving cost such as road traffic cost and weather cost, among others. Recent technological development particularly in the ubiquitous computing environment has facilitated the collection of such data. This framework is based on the contexts of time, traffic, and environment, which addresses the following issues. First, we clarify and classify the diverse contexts that affect a vehicle's velocity and estimates the optimization of moving cost based on dynamic programming that accounts for the context cost according to the variance of contexts. Second, the velocity reduction rate is applied to find the optimal route (shortest path) using the context data on the current traffic condition. The velocity reduction rate infers to the degree of possible velocity including moving vehicles' considerable road and traffic contexts, indicating the statistical or experimental data. Knowledge generated in this papercan be referenced by several organizations which deal with road and traffic data. Third, in experimentation, we evaluate the effectiveness of the proposed context-based optimal route (shortest path) between locations by comparing it to the previously used distance-based shortest path. A vehicles' optimal route might change due to its diverse velocity caused by unexpected but potential dynamic situations depending on the road condition. This study includes such context variables as 'road congestion', 'work', 'accident', and 'weather' which can alter the traffic condition. The contexts can affect moving vehicle's velocity on the road. Since these context variables except for 'weather' are related to road conditions, relevant data were provided by the Korea Expressway Corporation. The 'weather'-related data were attained from the Korea Meteorological Administration. The aware contexts are classified contexts causing reduction of vehicles' velocity which determines the velocity reduction rate. To find the optimal route (shortest path), we introduced the velocity reduction rate in the context for calculating a vehicle's velocity reflecting composite contexts when one event synchronizes with another. We then proposed a context-based optimal route (shortest path) algorithm based on the dynamic programming. The algorithm is composed of three steps. In the first initialization step, departure and destination locations are given, and the path step is initialized as 0. In the second step, moving costs including composite contexts into account between locations on path are estimated using the velocity reduction rate by context as increasing path steps. In the third step, the optimal route (shortest path) is retrieved through back-tracking. In the provided research model, we designed a framework to account for context awareness, moving cost estimation (taking both composite and single contexts into account), and optimal route (shortest path) algorithm (based on dynamic programming). Through illustrative experimentation using the Wilcoxon signed rank test, we proved that context-based route planning is much more effective than distance-based route planning., In addition, we found that the optimal solution (shortest paths) through the distance-based route planning might not be optimized in real situation because road condition is very dynamic and unpredictable while affecting most vehicles' moving costs. For further study, while more information is needed for a more accurate estimation of moving vehicles' costs, this study still stands viable in the applications to reduce moving costs by effective route planning. For instance, it could be applied to deliverers' decision making to enhance their decision satisfaction when they meet unpredictable dynamic situations in moving vehicles on the road. Overall, we conclude that taking into account the contexts as a part of costs is a meaningful and sensible approach to in resolving the optimal route problem.

무선 메쉬 네트워크에서 최적화된 경로선정을 위한 라우팅 (An Optimal Path Routing in Wireless Mesh Network)

  • 이애영;노일순
    • 한국인터넷방송통신학회논문지
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    • 제9권6호
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    • pp.43-48
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    • 2009
  • 무선 메쉬 네트워크(Wireless mesh networks, WMNs)는 Ad-hoc 네트워크와는 달리 백본망 구조를 가지고 있기 때문에 이동성이 적고, 단말들이나 다른 망들과 다중경로로 통신이 가능하다. 무선 메쉬 네트워크에서는 기존의 ad-hoc 네트워크의 알고리즘을 보완한 ETX, ETT, MIC 등과 같은 라우팅 경로선정 메트릭이 제안되고 있다. 제안된 다양한 라우팅 메트릭에는 최소의 흡수를 고려하는 Hop_count, 링크 품질을 고려하는 ETX(Expected Transmission Count)나 ETT(Expected Transmission Time)와 같은 metric이 존재한다. 하지만 ETX의 경우 전송률을 구할 때 각 방향에서 측정패킷의 조건이 달라 실질적인 전송률을 제공해주지 못한다는 단점이 있다. 본 논문에서는 ETX를 개선하여 hop_count를 반영하고, 실질 전송률을 고려하는 IETC(Improved Expected Transmission with hop count)를 제안하였다. 실험을 통해 제안된 메트릭이 전송율과 경로 선정에 있어서 기존 메트릭보다 나은 결과를 보였다.

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미지 환경에서의 자율주행 로봇의 청소 알고리즘 (A Sweeping Algorithm for an Autonomous Mobile Robot under the Unknown Environment)

  • 박주용;이기동
    • 대한전기학회논문지:전력기술부문A
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    • 제48권1호
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    • pp.61-67
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    • 1999
  • There has been an ever increasing interest in mobile robot for home services. However, issues currently being investigated for path planning of the mobile robot is concentrated to solving the problem of finding the optimal path from the initial location to the final location under the given performance index. In this study, we newly present a sweeping algorithm for autonomous mobile robot to cover the whole closed area under the unknown environment. And we verify the validity the validity of the formalized algorithm by computer simulation with the changing environment conditions. In addition to this, we analyse the effect of real system implementation of the proposed algorithm to a experimental miniature mobile robit(Khepera).

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상태 공간 압축을 이용한 강화학습 (Reinforcement Learning Using State Space Compression)

  • 김병천;윤병주
    • 한국정보처리학회논문지
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    • 제6권3호
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    • pp.633-640
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    • 1999
  • Reinforcement learning performs learning through interacting with trial-and-error in dynamic environment. Therefore, in dynamic environment, reinforcement learning method like Q-learning and TD(Temporal Difference)-learning are faster in learning than the conventional stochastic learning method. However, because many of the proposed reinforcement learning algorithms are given the reinforcement value only when the learning agent has reached its goal state, most of the reinforcement algorithms converge to the optimal solution too slowly. In this paper, we present COMREL(COMpressed REinforcement Learning) algorithm for finding the shortest path fast in a maze environment, select the candidate states that can guide the shortest path in compressed maze environment, and learn only the candidate states to find the shortest path. After comparing COMREL algorithm with the already existing Q-learning and Priortized Sweeping algorithm, we could see that the learning time shortened very much.

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A Low-Cost Approach for Path Programming of Terrestrial Drones on a Construction Site

  • Kim, Jeffrey;Craig, James
    • 국제학술발표논문집
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    • The 9th International Conference on Construction Engineering and Project Management
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    • pp.319-327
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    • 2022
  • Robots for construction sites, although not deeply widespread, are finding applications in the duties of project monitoring, material movement, documentation, security, and simple repetitive construction-related tasks. A significant shortcoming in the use of robots is the complexity involved in programming and re-programming an automation routine. Robotic programming is not an expected skill set of the traditional construction industry professional. Therefore, this research seeks to deliver a low-cost approach toward re-programming that does not involve a programmer's skill set. The researchers in this study examined an approach toward programming a terrestrial-based drone so that it follows a taped path. By doing so, if an alternative path is required, programmers would not be needed to re-program any part of the automated routine. Changing the path of the drone simply requires removing the tape and placing a different path - ideally simplifying the process and quickly allowing practitioners to implement a new automated routine. Python programming scripts were used with a DJI Robomaster EP Core drone, and a terrain navigation assessment was conducted. The study examined the pass/fail rates for a series of trial run over different terrains. The analysis of this data along with video recording for each trial run allowed the researchers to conclude that the accuracy of the tape follow technique was predictable on each of the terrain surfaces. The accuracy and predictability inform a non-coding construction practitioner of the optimal placement of the taped path. This paper further presents limitations and suggestions for some possible extended research options for this study.

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A multi-objective decision making model based on TLBO for the time - cost trade-off problems

  • Eirgash, Mohammad A.;Togan, Vedat;Dede, Tayfun
    • Structural Engineering and Mechanics
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    • 제71권2호
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    • pp.139-151
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    • 2019
  • In a project schedule, it is possible to reduce the time required to complete a project by allocating extra resources for critical activities. However, accelerating a project causes additional expense. This issue is addressed by finding optimal set of time-cost alternatives and is known as the time-cost trade-off problem in the literature. The aim of this study is to identify the optimal set of time-cost alternatives using a multiobjective teaching-learning-based optimization (TLBO) algorithm integrated with the non-dominated sorting concept and is applied to successfully optimize the projects ranging from a small to medium large projects. Numerical simulations indicate that the utilized model searches and identifies optimal / near optimal trade-offs between project time and cost in construction engineering and management. Therefore, it is concluded that the developed TLBO-based multiobjective approach offers satisfactorily solutions for time-cost trade-off optimization problems.

실시간 도로 정보를 이용한 최고속력 동적 휴리스틱의 설계 (Design of Max Speed Dynamic Heuristic with Real Time Transportation Data)

  • 문대진;조대수
    • 한국정보통신학회:학술대회논문집
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    • 한국해양정보통신학회 2008년도 춘계종합학술대회 A
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    • pp.827-830
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    • 2008
  • 센터 기반의 경로탐색 시스템은 수집된 도로 정보를 이용하여 최적 경로를 탐색한다. 반면, 단말기 기반의 경로탐색 시스템은 자체적으로 내장된 정보만을 사용하기 때문에 센터 기반의 탐색보다 경로의 질이 떨어진다. 그러나 추가 요금이 들지 않기 때문에 단말기 기반의 서비스가 선호되고 있다. 일반적으로 단말기 기반의 경로탐색 시스템의 경우 실시간 도로 정보를 이용할 수 없었지만, 최근 TPEG과 같은 기술을 이용하여 실시간 교통 정보를 전송 받을 수 있다. 그러나 단말기의 제한된 성능으로 인해 실시간 교통정보를 모두 활용하여 경로의 질을 높이면 탐색 비용이 급격히 증가하는 문제가 있다. 이 논문에서는 경로의 질을 높이고 탐색비용을 줄이기 위해 최고 속력 동적 휴리스틱을 이용하는 경로탐색 기법을 제안한다. 제안하는 방법은 일정 구역 도로의 최고 속력을 동적 휴리스틱으로 활용하여 경로탐색에 활용한다.

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동적계획법과 적응 비용 변환을 이용한 영상 모자이크의 seam-line 결정 (Seam-line Determination in Image Mosaicking using Adaptive Cost Transform and Dynamic Programming)

  • 전재춘;서용철;김형석
    • 한국지리정보학회지
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    • 제7권2호
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    • pp.16-28
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    • 2004
  • 영상 모자이크 작업에서 두 영상 간의 경계선이 보이지 않는 최적의 seam-line을 구하기 위해 화소값 차이 변환과 동적계획법 이용 알고리즘을 제안하였다. 영상 간의 경계선은 두 영상의 화소값 차이가 적은 화소를 따라 형성되는 것이 시각적 부담이 적다. 이 화소들을 연결하는 것은 최적 경로를 찾는 알고리즘을 이용할 수 있다. 최적 경로 결정에 효과적인 동적계획법을 seam-line 결정에 직접 적용하변 화소값의 차이뿐만 아니라, seam-line의 길이에 따라 영향을 받는 거리영향문제가 발생한다. 이 논문에서는 적응적 변환함수를 사용하여 비용 변환을 수행하고, 변환된 비용공간 상에서 동적계획법을 적용하여 거리영향이 억제된 최적 seam-line을 구할 수 있는 알고리즘을 개발하였다. 또한 결정된 seam-line을 평가하기 위해 일정한 개수의 상위 화소값의 차이를 누적한 값(SFBPD)을 척도로 제시하였다. 제안한 seam-line 결정방법을 다양한 종류의 영상에 대해 적용 실험하였으며, 시각적 및 SBPD 값에 의한 수치적 결과를 제시하였다.

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다중홉 통신 기법을 활용한 네트워크 로봇의 협력적 경로 탐색 (Wireless Multihop Communications for Frontier cell based Multi-Robot Path Finding with Relay Robot Random Stopping)

  • 정진홍;김성륜
    • 한국통신학회논문지
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    • 제33권11B호
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    • pp.1030-1037
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    • 2008
  • 본 논문에서는 다중 로봇 (multi-robot)을 활용한 응용분야 중, 미지의 영역에 대한 탐색 (exploration) 능력을 향상시켜서, 주어진 미로 (maze)에서 다중 로봇이 통신을 통해서 협력적으로 출구를 찾아가는 효율적인 방안을 제안하였다. 즉, 미로 형태의 임의의 환경을 생성한 후, 로봇을 무작위로 배치시켜 상호간에 통신을 통하여 출구로 신속히 모두 빠져나오는 문제를 다루고 있다. 미로탐색을 위해 다중 로봇의 지역 탐색에서 사용되었던, 프론티어 셀, 셀 유틸리티등 기존 연구를 활용하였다. 또한 로봇간의 다중홉 무선 통신 (multihop wireless communications)을 위해서 이동성 (mobility)에 강한 일종의 홉기반 (hop-by-hop) 라우팅인, 랜덤 베스킷 볼 라우팅을 채용하였다. 또한, 출구를 찾은 로봇이 일정한 확률에 의거하여 출구 앞에서 정지하거나 혹은, 빠져나가는 의사 결정을 하여, 이 확률적인 결정이 다른 로봇의 행동에 어떻게 영향을 주는지를 실험적으로 조사하였다. 즉, 출구를 찾은 로봇이 현재 위치에서 멈추어서, 통신 중계 지점 (relay)으로 어떻게 활동되어야 최적인지에 대한 문제를 모의 실험을 통해 파악해보았다.

워게임 시뮬레이션에서 온톨로지 기반의 경로탐색 모델링 및 시뮬레이션 (Modeling and Simulation of Ontology-based Path Finding in War-game Simulation)

  • 마용범;김재권;이종식
    • 한국시뮬레이션학회논문지
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    • 제21권1호
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    • pp.9-17
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    • 2012
  • 워게임 시뮬레이션은 전장의 상황을 모델링하고 전력 평가나 임무 분석을 위해 사용되고 있다. 그러나 워게임 시뮬레이션에서 실제 전장에서 받을 수 있는 영향을 모두 고려하는 것은 매우 복잡하다. 이를 해결하기 위해 우리는 온톨로지 기반의 경로탐색 모델을 제안한다. 이 모델은 전장 상황 데이터를 개념화하고 그 관계를 표현할 수 있는 온톨로지를 사용한다. 또한, 몇 가지 추론 규칙을 정의하여 온톨로지로 부터 새로운 지식을 만들거나 기존의 규칙을 통해 지식을 공유한다. 제안하는 모델의 성능 평가를 위해 우리는 제한된 시뮬레이션 환경을 구성하고 부대 이동 시간, 부대의 전투력, 부대 이동간 소요 비용을 측정한다. 측정된 실험의 결과는 제안하는 모델이 이동 시간과 전투력 손실, 소요 비용 측면에서 이점을 제공한다는 것을 보여준다.