• Proceedings of the KIEE Conference
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• 1995.11a
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• pp.587-589
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• 1995

The safe navigation of a mobile robot requires the recognition of the environment in terms of vision processing. To be guided in the given path, the robot should acquire the information about where the wall and corridor are located. Also unexpected obstacles should be detected as rapid as possible for the safe obstacle avoidance. In the paper, we assume that the mobile robot should be navigated in the flat surface. In terms of this assumption we simplify the correspondence problem by the free navigation surface and matching features in that coordinate system. Basically, the vision processing system adopts line segment of edge as the feature. The extracted line segments of edge out of both image are matched in the free nevigation surface. According to the matching result, each line segment is labeled by the attributes regarding obstacle and free surface and the 3D shape of obstacle is interpreted. This proposed vision processing method is verified in terms of various simulations and experimentation using real images.

• Journal of Institute of Control, Robotics and Systems
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• v.21 no.11
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• pp.1044-1049
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• 2015

This paper proposes an autonomous navigation system of mobile robots for indoor corridor environment. The system uses a laser scanner but does not use reflectors. The laser scanner measures the distance between robot and structures such as wall, pillar, and fixtures. Adaptive breakpoint detector and modified IEPF (iterative endpoint fit) are developed to find mark points from the distance data. The robot path for corridor is then generated using the angle histogram of the mark points. The experimental results are finally presented to show the effectiveness of the proposed method.

• Proceedings of the Korean Institute of Navigation and Port Research Conference
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• 1999.10a
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• pp.309-314
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• 1999

The major movement block of the containers is range between apron and designation points on yard in container terminal. The yard tractor operated by human takes charge of it's movement in conventional container terminal. In unmanned container terminal, UCT(unmanned container transporter) has charge of the yard tractor's role and the navigation path is ordered from upper level control system. The unmanned container terminal facilities must have docking system that guided landing line to have high speed travelling and precision positioning in unmanned container terminal. The general method for docking uses the vision system with CCD camera, infra red, and laser. This paper describes the investigation for the developed docking method in view point of merit and demerit and introduces 속 result of developing the docking system with LSB(laser slit beam).

• Journal of the Society of Naval Architects of Korea
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• v.58 no.3
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• pp.191-197
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• 2021

This study addresses autonomous ship collision avoidance in narrow channels using curvilinear coordinates. Navigation in narrow channels or fairways is known to be much more difficult and challenging compared with navigation in the open sea. It is not straightforward to apply the existing collision avoidance framework designed for use in the open sea to collision avoidance in narrow channels due to the complexity of the problem. In this study, to generalize the autonomous navigation procedure for collision avoidance in narrow channels, we introduce a curvilinear coordinate system for collision-free path planning using a parametric curve, B-spline. To demonstrate the feasibility of the proposed algorithm, ship traffic simulations were performed and the results are presented.

• Journal of the Korean Society for Precision Engineering
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• v.12 no.2
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• pp.145-153
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• 1995

This paper proposes a fuzzy algorithm for determining navigation path of an autonomous mobile robot in uncertain environment. The proposed fuzzy algorithm includes three type (MIN-TIME, ECONOMY, SAFETY) motion modes for the robot to get the ability to meet the ambiguous situation which the robot encounters. Ech ode is applied to both static and dynamic environmental situation. This paper concludes by showing the efficiency of the proposed method through some computer simulation results.

• Journal of the Institute of Electronics Engineers of Korea SC
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• v.43 no.6 s.312
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• pp.1-8
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• 2006

Many researches on path planning and obstacle avoidance for the fundamentals of mobile robot have been done recently. Informations from various sensors can be used to find obstacles and plan feasible path. In spite of many solutions of finding optimal path, each can be applied in only a constrained condition. This means that it is difficult to find university good algorithm. An optimal path with a complicated computation generates a time delay which cannot avoid moving obstacles. In this paper, we propose an algorithm of path planning and obstacle avoidance for mobile robot. We call the proposed method Random Access Sequence(RAS) method. In the proposed method, a small region is set first and numbers are assigned to its neighbors, then the path is selected using these numbers and cumulative numbers. It has an advantage of fast planning time and completeness of path if one exists. This means that new path selection may be possible within short time and that helps a robot to avoid obstacle in dynamic environments. Using the information of the start and destination position, the RAS can be performed for collision-free navigation by reforming feasible paths repeatedly in dynamic environments.

• Journal of Digital Contents Society
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• v.9 no.4
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• pp.569-581
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• 2008

In this paper, methods are proposed for creating a curved line in a navigation mesh, which is used in a windows based virtual reality or games. The main geographies used in a windows based virtual reality or games are created by using either grids or navigation meshes. When using grids, it is difficult to create a natural geography. Multiple grids are needed to ensure precise descriptions, which can result in system overload. A navigation mesh was developed to address this issue since the navigation mesh has the benefit of placing fewer loads on the system than a grid method. The drawback, however, is that the movements of character in navigation mesh are less natural. In this paper, a method for creating a curved line using round curves is proposed in order to resolve this issue. Using the methods for creating a curved line proposed in this paper in a windows based virtual reality or games will eliminate the unnatural or awkward movement of characters that arises in the use of a navigation mesh.

• Journal of KIISE:Software and Applications
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• v.32 no.5
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• pp.416-427
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• 2005

Web navigation mining is a method of discovering Web navigation patterns by analyzing the Web access log data. However, it is admitted that the log data contains noisy information that leads to the incorrect recognition of user navigation path on the Web's hyperlink structure. As a result, previous Web navigation mining systems that exploited solely the log data have not shown good performance in discovering correct Web navigation patterns efficiently, mainly due to the complex pre-processing procedure. To resolve this problem, this paper proposes a technique of amalgamating the Web's hyperlink structure information with the Web access log data to discover navigation patterns correctly and efficiently. Our implemented Web navigation mining system called SPMiner produces a WebTree from the hyperlink structure of a Web site that is used trl eliminate the possible noises in the Web log data caused by the user's abnormal navigational activities. SPMiner remarkably reduces the pre-processing overhead by using the structure of the Web, and as a result, it could analyze the user's search patterns efficiently.

• Journal of Advanced Navigation Technology
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• v.11 no.3
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• pp.296-305
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• 2007

The HiLow, a hierarchical routing protocol for 6LoWPAN, needs smaller memory allocation and energy than other routing protocols. However, the HiLow has a weak point that does not provide the optimized routing path. In this paper, we propose the algorithm that can find the optimum next hop using neighboring nodes around the source node as well as hierarchical routing path information. We evaluate the performance of proposed algorithm using the computer simulation, and we can acquire results that decreases a number of hop count and transmitted message.

• 제어로봇시스템학회:학술대회논문집
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• 2004.08a
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• pp.1187-1190
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• 2004

This paper presents a traveler guidance system that offers 3D street information such as road types, signal light systems, street trees, buildings, etc. We consider 5x4 road system of Gangnam(in Seoul, Korea) as a test area and reflect the traveler's car-driving situation. A web server is constructed to serve traveler's driving path by switching 3D animation scenes automatically. To do batch processing of geometric data for the 3D graphical streets construction, we have extracted major street information from present GIS database and created new GIS file formats (SMF files), which contain data sessions for links, nodes, and facilities. With these files, we can render 3D navigation scenes. A number of vector calculations were performed for the geometrical consistence and texture-mapping method was used for the realistic scene generation. Finally, we have verified the effectiveness of the service by operating a test scenario. We have checked whether traveler's 2D path and 3D navigation are exactly reported after setting specific departure and destination. This system offers us well awareness of streets and takes useful role of traveler guidance.