• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.47 no.5
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• pp.379-387
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• 2019

The complexity of path planning for visiting multiple mission points is even larger than that of single pair path planning. Deciding a path for visiting n mission points requires conducting $n^2+n$ times of single pair path planning. We propose Multiple Mission $D^*$ Lite($MMD^*L$) which is an optimal path planning algorithm for visiting multiple mission points in dynamic environments. $MMD^*L$ reduces the complexity by reusing the computational data of preceding single pair path planning. Simulation results show that the complexity reduction is significant while its path optimality is not compromised.

• Journal of the Korean Mathematical Society
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• v.38 no.2
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• pp.469-483
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• 2001

The configuration space and phase space oscillatory path integrals are computed in the case of the stochastic Schrodinger equation for the harmonic oscillator with a stochastic term of the form (K$\psi$(sub)t)(x) o dW(sub)t, where K is either the position operator or the momentum operator, and W(sub)t is the Wiener process. In this way formulae are derived for the stochastic analogues of the Mehler kernel.

• Journal of the Korea Society for Simulation
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• v.14 no.3
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• pp.21-31
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• 2005

In state-of-the-art games, characters can move in a goal-directed manner so that they can move to the goal position without colliding obstacles. Many path-finding methods have been proposed and implemented for these characters and most of them use the A* search algorithm. When .the map is represented with a regular grid of squares or a navigation mesh, it often takes a long time for the A* to search the state space because the number of cells used In the grid or the mesh increases for higher resolution. Moreover the A* search on the grid often causes a zigzag effect, which is not optimal and realistic. In this paper we propose to use visibility graphs to improve the search time by reducing the search space and to find the optimal path. We also propose a method of taking into account the size of moving characters in the phase of planning to prevent them from colliding with obstacles as they move. Simulation results show that the proposed method performs better than the grid-based A* algorithm in terms of the search time and space and that the resulting paths are more realistic.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 1997.10a
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• pp.519-522
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• 1997

In this study, the collision free path planning method of the articulated manipulator using sequential search is proposed. This method is to find the joint path of the manipulator with many degrees of freedom from the distal joint to the proximal one. To do this, the initial work space of the gantry manipulator, which is a remote maintenance equipment of the radioactive environment, is defined from the condition that the distal joint configuration is determined by the posture of maintenance. Then, 2-dimensional configuration space with the obstacle area is represented and the collision free path of manipulator is searched in the configuration space. And, this method is verified using the graphic simulation in virtual workcell for the spent fuel disassembling processes. The result of this study can be effectively used in implementing the maintenance processes for the hot cell equipment and enhance the reliability of the spent fuel management.

• The Journal of the Korea institute of electronic communication sciences
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• v.9 no.8
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• pp.907-914
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• 2014

A heuristic search algorithm is proposed to plan a collision free path for robots in an indoor environment. The proposed algorithm is to find a collision free path in the gridded configuration space by proposed heuristic graph search algorithm. The proposed algorithm largely consists of two parts : tunnel searching and path searching in the tunnel. The tunnel searching algorithm finds a thicker path from start grid to goal grid in grid configuration space. The tunnel is constructed with large grid defined as a connected several minimum size grids in grid-based configuration space. The path searching algorithm then searches a path in the tunnel with minimum grids. The computational time of the proposed algorithm is less than the other graph search algorithm and we analysis the time complexity. To show the validity of the proposed algorithm, some numerical examples are illustrated for robot.

• Journal of Environmental Impact Assessment
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• v.31 no.4
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• pp.201-213
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• 2022

Creation and administration of green space are emphasized to solve the environmental problem and the management of green space in urban area. Urban area with high development pressure faces green space fragmentation, so the planned approach is needed to improve the continuity of green space. However, the current institutional green axis, used to enhance continuity of urban space is merely an abstract concept under the master plan so that is not a consistent framework for urban green continuity providing no detailed information such as position and path. Therefore, in order to consistently manage green space in continuous point of view, it is insufficient not being connected to each individual green space development projects. This study proposes a method for finding the connection path to enhance urban green space continuity. This proposed method consists of two phases. First phase is finding nodes to connect current green space and second is to calculate the least cost path. We calculate connection cost using NDMI (Normalized Difference Moisture Index), impervious ratio and official land cost, applying to Suwon city and potential greening site that was planned in official master plan. According to the results, we confirm a possibility of finding a cost-effective connection path with detailed spatial information instead of unrealistic abstract concepts and discuss worth applying to a legally plan and policy.

• Journal of Aerospace System Engineering
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• v.14 no.2
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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.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.39 no.7
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• pp.618-626
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• 2011

In order to complete missions in a complicated terrain or highly dangerous area, an unmanned aerial vehicle(UAV) needs a fine controller to precisely follow the desired path. A PID controller used for the path following feeds forward path curvature information to the control input to improve the path following performance. High gain for PID controller is necessary to follow path tightly. However the high gain could cause instability or performance degradation when the vehicle has slow dynamics. We present PID controller design method which considers response delay of vehicle as well as path curvature. In order to obtain path curvature the desired path is described as a 3rd order polynomial by applying cubic spline interpolation. We apply the proposed controller to the path following of a UAV which is operated in high altitude and has very slow lateral dynamics. The lateral dynamics are modelled as a first order delayed system in the controller design. Nonlinear simulation shows the UAV with proposed controller follows an arbitrary path very tightly.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 2007.10a
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• pp.565-569
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• 2007

To find optimal path is killer application in the telematics system. The shortest path of conventional system, however, isn't always optimal path. That is, the path with minimum travelling time could be defined as optimal path in the road networks. There are techniques and algorithms for finding optimal path. Hierarchical path algorithm categorizes road networks into major layer and minor layer so that the performance of operational time increases. The path searched is accurate as much as optimal path. At above 2 system, a method to allocate minor roads to major road region influences the performance extremely. This paper proposes methods to determine search space for selecting major roads in the hierarchical path algorithm. In addition, methods which apply the proposed methods to hierarchical route algorithm is presented.

• Journal of IKEEE
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• v.26 no.1
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• pp.89-94
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• 2022

The W-band (75-110GHz) is a band that can utilize at least 10 times more bandwidth than the existing 5G band. Therefore, it is one of the bands suitable for future mobile communication that requires high speed and low latency, such as virtual and augmented reality. However, since the wavelength is short, it has a high path loss and is very sensitive to the atmospheric environment. Therefore, in order to develop a W-band communication system in the future, it is necessary to analyze the characteristics of path loss according to the channel environment. In this paper, to analyze the characteristics of the W-band path loss, the random forest technique was used, and the influence of the channel parameters according to the distance section was analyzed through the path loss data according to various channel environment parameters. As a result of the simulation, the distance has the highest influence on the path loss in the short distance, and the other channel environment factor is almost ignored. However, as the distance section became longer, the influence of distance decreased while the impact of clutter and rainfall increased.