• 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 Korean Society for Quality Management
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• v.26 no.1
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• pp.192-200
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• 1998

The quickest path problem is one of the important things for quality of services in communication networks. It is to find a path to send a given amount of data from the source to the sink with minimum transmission time, where the transmission time is dependent on both the capacities and the traversal times of the arcs in the network. This is found under the networks that the capacity and the lead time of each ring are predetermined. It is general to solve the quickest path problem using shortest path algorithms. The relevant algorithms proposed till now are based on the capacity of rings in distributed environments. When the configuration of networks is changed, there can be two a, pp.oaches to find the quickest paths. The one is to find new quickest paths, and the other is to update the current quickest paths. As one of the algorithms for the latter, the distributed quickest path update algorithm was proposed. This paper aims to propose the distributed algorithm a, pp.icable to find the quickest path, when the configuration of networks is changed, using the quickest path tree update altorithm, and to verify its possibility of a, pp.ication by analyzing the transmission amount of data from one node to another from the theoretical point of view.

• Proceedings of the KIEE Conference
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• 2003.07a
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• pp.381-383
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• 2003

The authors have developed a solution method based on the incremental algorithm. The optimal load balance between feeders is found through the incremental algorithm with allowing the loop configuration. Therefore loops can be configured in the resulting configuration, and then we must eliminate all loops to satisfy radiality of distribution system because the distribution system is operated under radial status. But the optimal load balance through incremental algorithm is deteriorated when the loops are eliminated. In this paper, authors propose a new method which is to improve the searching procedure of path in the incremental algorithm, that is, so as not to make loop in the path configuration.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.20 no.7
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• pp.211-217
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• 2019

In an complicated battlefield environment, information from enemy's camp is an important factor in carrying out military operations. For obtaining this information, the number of UAVs that can be deployed to the mission without our forces' loss and at low cost is increasing. Because the mission environment has anti-aircraft weapons, mission space is needed for UAV to guarantee survivability without being killed. The concept of Configuration Space is used to define the mission space considering with range of weapons and detect range of UAV. UAV must visit whole given area to obtain the information and perform Coverage Path Planning for this. Based on threats to UAV and importance of information that will be obtained, area that UAV should visit first is defined. Grid Map is generated and mapping threat information to each grid for UAV path planning. On this study, coverage conditions and path planning procedures are presented based on the threat information on Grid Map, and mission space is expanded to improve detection efficiency. Finally, simulations are performed, and results are presented using the suggested UAV path planning method in this study.

• IE interfaces
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• v.10 no.1
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• pp.57-65
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• 1997

Less researches on AGV(Automated Guided Vehicle) path configurations have been conducted so far while more studies have been placed in determining AGV guide path directions and pick-up/drop-off station locations, and routing/dispatching/scheduling strategies. In practice plenty of concerns fall in preventing deadlock and simplifying AGV system control through an appropriate AGV path configuration. In order to meet those requirements, a new AGV path configuration, inter-loop stocker type is introduced here. The stocker serves as relaying material between loops as well as stocking material. Automated material handling systems using AGVs play an important role in semiconductor industry including TFT LCD and memory/non-memory chip. A practical example of implementing the inter-loop stocker concept successfully in the TFT LCD fab is presented in this paper.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.21 no.5
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• pp.623-629
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• 2020

This study examined the airflow field around a gun port on the flight condition of gunfire to verify the aircraft performance and safety effects and gun gas rate, path according to the options of diverter configuration. The gun port diverter not only effectively lowered the heat generated by gunfire but also effectively discharged the gun gas upwards. The path of gun gas can be changed according to its configuration. According to the optional configuration of the rear-gun-port diverter, the flow rate, path, and pressure of the gun gas were analyzed during gunfire. An analysis of the internal velocity distribution and the temperature change of the gun port revealed a rapid decrease in flow rate through the rear diverter according to the option configuration. The forward flow rate showed a similar tendency with little change. This ensures that the gun gas generated during gunfire has a sufficient flow distance from the aircraft surface, regardless of the rear gun port diverter's optional configuration. The flow stagnation of gun gas according to the option configuration of diverter had a great influence on the internal temperature rise of a gun port.

• Journal of the Korean Institute of Intelligent Systems
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• v.21 no.1
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• pp.36-41
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• 2011

Configuration space(C-space) including configuration obstacle(C-obstacle) is one of the most important concepts in mobile robot path planning. Using C-space and C-obstacles, the robot with different shapes and moving mechanisms can be considered as a point in the C-space. And, as a result, the collision-free path for the robot can be easily achieved. To make C-space including C-obstacle, many researchers used circular approximation method for the efficient caluculation time. This method can help us to save our time by approximating the shape of a robot as the minimum sized circle which can cover all the area of robot. But, by using the circle larger than the robot, more space are considered as the part of robot and, as a result, some obstacles which are very near each other may be considered as a combined one obstacle. To solve this problem, multi-level configuration space is proposed by this paper. This multi-level method also use the circular approximation method as the initial step. But, after finding the initial path, it will check how many obstacles are combined. And then, for each combined obstacle, more accurate C-space generation will be continued. To check the efficiency of the proposed algorithm, time for c-space generation are compared with the well-known accurate C-space generation method using various types of robot shape.

• Journal of Institute of Control, Robotics and Systems
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• v.18 no.4
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• pp.365-370
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• 2012

Most path planning algorithms for a marine robot in the ocean environment have been developed without considering the robot's heading angle. As a result, the robot has a difficulty in following the path correctly. In this paper, we propose a limit-cycle circle set that applies to the $Theta^*$ algorithm. The minimum turning radius of a marine robot is calculated using a limit-cycle circle set, and circles of this radius is used to generate a configuration space of an occupancy grid map. After applying $Theta^*$ to this configuration space, the limit-cycle circle set is also applied to the start and end nodes to find the appropriate path with specified heading angles. The benefit of this algorithm is its fast computation time compared to other 3-D ($x,y,{\theta}$) path planning algorithms, along with the fact that it can be applied to the 3-D kinematic state of the robot. We simulate the proposed algorithm and compare it with 3-D $A^*$ and 3-D $A^*$ with post smoothing algorithms.

• Journal of KIISE:Computer Systems and Theory
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• v.34 no.4
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• pp.132-137
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• 2007

A point-wise car-like robot moving in the plane changes its direction with a constraint on turning curvature. In this paper, we consider the problem of computing a shortest path of bounded curvature between a prescribed initial configuration (position and orientation) and a polygonal goal, and propose a new geometric proof showing that the shortest path is either of type CC or CS (or their substring), where C specifies a non-degenerate circular arc and S specifies a non-degenerate straight line segment. Based on the geometric property of the shortest path, the shortest path from a configuration to a polygonal goal can be computed in linear time.

• Journal of the Korea Society for Simulation
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• v.18 no.4
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• pp.175-184
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• 2009

The distance of sensor nodes is an important factor in having influence on capability of networks in underwater acoustic sensor networks. Our proposed scheme is to establish an efficient distance to design a route of communication in underwater environment and it proposes a Level scheme that the areas divided by transmit/receive distance in network are given different levels. Our proposed scheme is pursued research to maintain a established route and maximize an energy efficiency. The established route will have fluid modification by an internal and external factors and it will construct more robust underwater sensor networks over our proposed multiple path configuration scheme.