• Spatial Information Research
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• v.19 no.3
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• pp.43-52
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• 2011

Recently, interest in location-based service (LBS) which utilizes a DBMS in mobile system environment has been increasing, and it is expected to overcome the existing file-based system's limitation in advanced in-vehicle system by utilizing DBMS's advantages such as efficient storage, transaction management, modelling and spatial queries etc. In particular, the road network data corresponds to the most essential domain in a route planning system, which needs efficient management and maintenance. Accordingly, this study aims to develop an efficient graph-based geodata model for topological network data and to support dynamic path computation algorithm based on heuristic approach in mobile LBS system. To achieve this goal, we design a data model for supporting the hierarchy of network, and implement a path planning system to evaluate its performance in mobile LBS system. Last but not least, we find out that the designed path computation algorithm with hierarchical graph model reduced the number of nodes used for finding and improved the efficiency of memory.

• Journal of the Korean Society of Industry Convergence
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• v.18 no.4
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• pp.191-196
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• 2015

In this paper, we present a path-smoothing algorithm for a robot arm manipulator that finds the path using a joint space-based rapidly-exploring random tree. Unlike other smoothing algorithms which require complex mathematical computation, the proposed path-smoothing algorithm is done using a Gaussian process. To find the optimal hyperparameters of the Gaussian process, we use differential evolution hybridized with opposition-based learning. The simulation result indicates that the Gaussian process whose hyperparameters were optimized by hybrid differential evolution successfully smoothed the path generated by the joint space-based rapidly-exploring random tree.

• 제어로봇시스템학회:학술대회논문집
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• 1990.10a
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• pp.722-725
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• 1990

This paper proposes a new path planning method for obstacle avoidance of mobile robot. In order to achieve easy planning of the path, a simple representation of the empty space is achieved based on thinning algorithm. The proposed Planning technique facilitates the direct use of information obtained by camera. Comparing to the V-graph method, the task of determining the shortest path from the resulting skeleton of empty space is optimized in terms of number of computation steps. The usefulness of the proposed method is ascertained by simulation.

• Korean Journal of Computational Design and Engineering
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• v.16 no.4
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• pp.300-304
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• 2011

This paper proposes an approach to generate tool-path for laser pattern machining. Considering the mechanical structure of a laser pattern machine, it is quite similar to that of a 2D milling machine. Based on the observation, one may try to utilize the tool-path generation methodologies of 2D milling for the laser pattern machining. However, it is not possible to generate tool-path without considering the technological requirements of laser pattern machining which are different from those of 2D milling. In this paper, we identify the technological requirement of laser pattern machining, and propose a proper tool-path generation methodology to satisfy the technological requirements. For the efficient generation of tool-path, this paper proposes a tool-path element computation method, which is based on the concept of a monotone chain.

• Proceedings of the KSR Conference
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• 2011.10a
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• pp.607-613
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• 2011

This paper reviews search methods of multiple reasonable paths to implement multimodal public transportation network of Seoul. Such a large scale multimodal public transportation network as Seoul, the computation time of path finding algorithm is a key and the result of path should reflect route choice behavior of public transportation passengers. Search method of alternative path is divided by removing path method and deviation path method. It analyzes previous researches based on the complexity of algorithm for large-scale network. Applying path finding algorithm in public transportation network, transfer and loop constraints must be included to be able to reflect real behavior. It constructs the generalized cost function based on the smart card data to reflect travel behavior of public transportation. To validate the availability of algorithm, experiments conducted with Seoul metropolitan public multimodal transportation network consisted with 22,109 nodes and 215,859 links by using the deviation path method, suitable for large-scale network.

• The Journal of Korea Robotics Society
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• v.18 no.3
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• pp.337-345
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• 2023

In this paper, we propose a 3D LiDAR sensor-based costmap generation and path planning algorithm using it for reliable autonomous flight in complex indoor environments. 3D path planning is essential for reliable operation of UAVs. However, existing grid search-based or random sampling-based path planning algorithms in 3D space require a large amount of computation, and UAVs with weight constraints require reliable path planning results in real time. To solve this problem, we propose a method that divides a 3D space into several 2D spaces and a path planning algorithm that considers the distance to obstacles within each space. Among the paths generated in each space, the final path (Best path) that the UAV will follow is determined through the proposed objective function, and for this purpose, we consider the rotation angle of the 2D space, the path length, and the previous best path information. The proposed methods have been verified through autonomous flight of UAVs in real environments, and shows reliable obstacle avoidance performance in various complex environments.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.34 no.11A
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• pp.862-869
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• 2009

We propose a new adaptive K-best Sphere Decoding (SD) algorithm for Multiple Input Multiple Output (MIMO) systems where the number of survivor paths, K is changed based on the characteristics of path metrics which contain the instantaneous channel condition. In order to overcome a major drawback of Maximum Likelihood Detection (MLD) which exponentially increases the computational complexity with the number of transmit antennas, the conventional adaptive K-best SD algorithms which achieve near to MLD performance have been proposed. However, they still have redundant computation complexity since they only employ the channel fading gain as a channel condition indicator without instantaneous Signal to Noise Ratio (SNR) information. hi order to complement this drawback, the proposed algorithm use the characteristics of path metrics as a simple channel indicator. It is found that the ratio of the minimum path metric to the other path metrics reflects SNR information as well as channel fading gain. By adaptively changing K based on this ratio, the proposed algorithm more effectively reduce the computation complexity compared to the conventional K-best algorithms which achieve same performance.

• ETRI Journal
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• v.27 no.6
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• pp.733-746
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• 2005

In the context of multi-protocol label switching (MPLS) traffic engineering, this paper proposes a scalable constraintbased shortest path first (CSPF) routing algorithm with multiple QoS metrics. This algorithm, called the multiple constraint-based shortest path first (M_CSPF) algorithm, provides an optimal route for setting up a label switched path (LSP) that meets bandwidth and end-to-end delay constraints. In order to maximize the LSP accommodation probability, we propose a link weight computation algorithm to assign the link weight while taking into account the future traffic load and link interference and adopting the concept of a critical link from the minimum interference routing algorithm. In addition, we propose a bounded order assignment algorithm (BOAA) that assigns the appropriate order to the node and link, taking into account the delay constraint and hop count. In particular, BOAA is designed to achieve fast LSP route computation by pruning any portion of the network topology that exceeds the end-to-end delay constraint in the process of traversing the network topology. To clarify the M_CSPF and the existing CSPF routing algorithms, this paper evaluates them from the perspectives of network resource utilization efficiency, end-to-end quality, LSP rejection probability, and LSP route computation performance under various network topologies and conditions.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.30 no.6 s.249
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• pp.678-683
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• 2006

In this paper, the 5-axis tool path that has been generated from the original surface is, newly generated from the offset polyhedral mesh. In this approach, the interference check between two solid models can be simplified to that of offset polyhedral mesh and axis line. The tool path computation and interference check based on the offset mesh is simpler and faster than that based on the original surface. But 5-axis tool path generation using this approach is able to apply only for ball endmill and still takes longer time than 3-axis tool path generation.

• Proceedings of the KIEE Conference
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• 2003.07d
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• pp.2420-2422
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• 2003

In this paper, two Fuzzy Logics for path planning of an autonomous mobile robot are proposed. If a target point is given, such problems regarding the velocity and object recognition are closely related with path to which the mobile robot navigates. Therefore, to ensure safety navigation of the mobile robot for two fuzzy logic parts, path planning considering the surrounding environment was performed in this paper. First, feature points for local and global path are determined by utilizing Cell Decomposition off-line computation. Second, the on-line robot using two Fuzzy Logics navigates around path when it tracks the feature points. We demonstrated optimized path planning only for local path using object recognition fuzzy logic corresponds to domestic situation. Furthermore, when navigating, the robot uses fuzzy logic for velocity and target angle. The proposed algorithms for path planning has been implemented and tested with pioneer-dxe mobile robot.