• International Journal of Control, Automation, and Systems
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• 제4권5호
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• pp.653-659
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• 2006

The design of $H_2$-optimal control with regional pole assignment via state feedback in linear time-invariant systems is investigated. The aim is to find a state feedback controller such that the closed-loop system has the desired eigenvalues lying in some desired stable regions and attenuates the disturbance between the output vector and the disturbance vector. Based on a proposed result of parametric eigenstructure assignment via state feedback in linear systems, the considered $H_2$-optimal control problem is changed into a minimization problem with certain constraints, and a simple and effective algorithm is proposed for this considered problem. A numerical example and its simulation results show the simplicity and effectiveness of this proposed algorithm.

• 대한전자공학회:학술대회논문집
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• 대한전자공학회 2006년도 하계종합학술대회
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• pp.853-854
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• 2006

Due to a recently developed approach to autopilot controller design for highly-maneuvering BTT (bank-to-turn) missiles, we now can derive explicitly the final-phase optimal guidance (OG) law considering the autopilot dynamics through direct use of the well-known linear optimal control theory. The proposed OG law can decrease the miss distance (MD) remarkably with small acceleration and roll rate profile at the time of interception.

• 한국시뮬레이션학회논문지
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• 제6권1호
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• pp.97-108
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• 1997

For the purpose of decreasing economic loss from the traffic jam, a car route guidance system efficiently utilizing the existing roads has attracted a great deal of attention. In this paper, the search algorithm for optimal path and alternative paths, which is the main function of a car route guidance system, was presented using evolution program. Search efficiency was promoted by changing the population size of path individuals in each generation, applying the concept of age and lifetime to path individuals. Through simulation on the virtual road-traffic network consisting of 100 nodes with various turn constraints and traffic volumes, not only the optimal path with the minimal cost was obtained, avoiding turn constraints and traffic congestion, but also alternative paths with similar costs and acceptable difference was acquired, compared with optimal path.

• 한국안전학회지
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• 제28권3호
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• pp.118-122
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• 2013

For safe evacuation in the fire disaster, the evacuees must find the exit and evacuate quickly. Especially, if the evacuees don't know the location of the exit, they have to depend on the evacuation guidance system. Because the more smoke spread, the less visibility is decreasing, it is difficult to find the way to the exit by the naked eye. For theses reasons, the evacuation guidance system is highly important. However, the evacuation guidance system without change of direction has the risk that introduce to the dangerous area. In the evacuation safety assessment scenario by the evacuation simulation has the same problem. Because the evacuee in the simulation evacuate by the shortest route to the exit, the simulation result is same like the evacuation without the evacuation guidance system. In this study, it was used with MAS (Multi Agent System)-based simulation program including the evacuation guidance system to implement the change of evacuation by fire. Using this method, confidence of evacuation safety assessment can be increase.

• 한국항공우주학회지
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• 제36권9호
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• pp.884-890
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• 2008

본 논문에서는 원형 목표구역에 무인 비행체가 도달할 때 비행체의 지향각, 즉 속도 벡터의 방향과 비행체와 목표점과의 시선이 이루는 사이 각을 제어할 수 있는 일반화된 중기 유도법칙을 제안한다. 유도법칙의 도출을 위해 비행체의 운동을 비선형 미분 방정식으로 모델링하고 거리함수 가중치를 갖는 제어 에너지 최소화 문제로 접근하여 최적제어이론을 적용하였다. 결과적으로 원형 목표구역 도달 시 지향각 구속조건을 만족시킬 수 있는 최적 해를 도출한다. 해의 수렴성을 비롯하여 제안한 유도법칙의 특성에 대해 고찰한다. 수치적인 시뮬 레이션을 통해 전형적인 시나리오에 대해 제안한 유도법칙의 성능을 시범적으로 보인다.

• Spatial Information Research
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• 제19권1호
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• pp.83-91
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• 2011

The route finding analysis is an essential geo-related decision support tool in a LBS(Location based Services) and previous researches related to route guidance have been mainly focused on route guidances for vehicles. However, due to the recent spread of personal computing devices such as PDA, PMP and smart phone, route guidance for pedestrians have been increasingly in demand. The pedestrian route guidance is different from vehicle route guidance because pedestrians are affected more surrounding environment than vehicles. Therefore, pedestrian path finding needs considerations of factors affecting walking. This paper aimed to extract factors affecting walking and charting the factors for application factors affecting walking to pedestrian path finding. In this paper, we found various factors about environment of road for pedestrian and extract the factors affecting walking. Factors affecting walking consist of 4 categories traffic, sidewalk, network, safety facility. We calculated weights about each factor using analytic hierarchy process (AHP). Based on weights we calculated scores about each factor's attribute. The weight is maximum score of factor. These scores of factor are used to optimal pedestrian path finding as path finding cost with distance, accessibility.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1993년도 한국자동제어학술회의논문집(국내학술편); Seoul National University, Seoul; 20-22 Oct. 1993
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• pp.450-455
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• 1993

Guidance commands for attitude controlled missiles inevitably take the form of attitude angle commands. On the other hand, many guidance laws compute the accelerations required to achieve their goals. Therefore some integrators must be in use for the attitude controlled missiles to implement the guidance laws. Naturally, the use of the integrator raises the problem of choosing a proper initial value. In this paper, we compute the integrator initial value which minimizes the terminal miss and show that if the total flight time of the mission is long enough, the "optimal" initial value becomes some multiple of the initial heading error or of the given impact angle to the target. We demonstrate the validity of the analysis by showing some linear and nonlinear simulation results.n results.

• 한국항공우주학회지
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• 제31권8호
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• pp.50-57
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• 2003

헬리콥터를 공간상에서 비교적 가까운 거리에 불규칙하게 주어진 여러 경로점을 따라 비행하는 것은 아주 실제적인 임무인데 이러한 임무에서 최적의 경로를 찾는 것은 어려운 문제에 속한다. 역제어나 직접법을 사용하는 전통적 접근은, 역제어의 경우에는 전 구간의 경로를 시간의 함수로 미리 설정해야 한다거나, 직접법의 경우 계산시간이 너무 많이 소요 된다는 등의 제약으로 그 활용성이 제한적이었다. 본 논문에서는 최적제어기법을 적용하여 다중경로점이 주어진 문제에 대해 최적경로를 구하는 알고리듬을 개발하고 이를 이용하여 slalom 운동과 전체적으로 곡선이 경로에서 일부구간만 선형으로 주어지는 문제 등에 있어서의 헬리콥터의 최적경로를 구하고 그 효용성을 검증하였다.

• 한국항공우주학회지
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• 제37권11호
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• pp.1104-1111
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• 2009

항공기는 저고도에서 임무를 수행할 때, 대공 미사일과 지형 장애물 같은 다양한 위협들에 제약을 받는다. 특히, 항공기는 지면 근처에서 항상 지형과의 충돌 위험을 갖는다. 본 연구에서는 이 문제에 효과적으로 대비하기 위하여, 지형 회피가 고려된 비행경로 생성 알고리듬을 개발하였다. 비행경로 생성 알고리듬에서는 먼저 등고선의 그룹화를 통해 경로점을 생성하고, Dijkstra 알고리듬을 이용하여 적절한 경로점 조합을 구성한다. 구성된 경로점 조합에 대해서는 최적제어 이론을 기반으로 한 최적 경로점 유도법칙을 적용하여, 제어에너지를 최소로 하는 최적의 비행경로를 제시한다.

• 한국군사과학기술학회지
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• 제23권4호
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• pp.399-406
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• 2020

In this paper, we propose a time-varying proportional navigation guidance law that determines the proportional navigation gain in real-time according to the operating situation. When intercepting a target, an unidentified evasion strategy causes a loss of optimality. To compensate for this problem, proper proportional navigation gain is derived at every time step by solving an optimal control problem with the inferred evader's strategy. Recently, deep reinforcement learning algorithms are introduced to deal with complex optimal control problem efficiently. We adapt the actor-critic method to build a proportional navigation gain network and the network is trained by the Proximal Policy Optimization(PPO) algorithm to learn an evasion strategy of the target. Numerical experiments show the effectiveness and optimality of the proposed method.