• Journal of Information Processing Systems
• /
• v.16 no.6
• /
• pp.1324-1342
• /
• 2020

Various modified algorithms of rapidly-exploring random tree (RRT) have been previously proposed. However, compared to the RRT algorithm for collision avoidance with global and static obstacles, it is not easy to find a collision avoidance and local path re-planning algorithm for dynamic obstacles based on the RRT algorithm. In this study, we propose boundary-RRT*, a novel-algorithm that can be applied to aerial vehicles for collision avoidance and path re-planning in a three-dimensional environment. The algorithm not only bounds the configuration space, but it also includes an implicit bias for the bounded configuration space. Therefore, it can create a path with a natural curvature without defining a bias function. Furthermore, the exploring space is reduced to a half-torus by combining it with simple right-of-way rules. When defining the distance as a cost, the proposed algorithm through numerical analysis shows that the standard deviation (σ) approaches 0 as the number of samples per unit time increases and the length of epsilon ε (maximum length of an edge in the tree) decreases. This means that a stable waypoint list can be generated using the proposed algorithm. Therefore, by increasing real-time performance through simple calculation and the boundary of the configuration space, the algorithm proved to be suitable for collision avoidance of aerial vehicles and replanning of local paths.

• The Transactions of the Korean Institute of Electrical Engineers D
• /
• v.51 no.12
• /
• pp.577-582
• /
• 2002

The objective of this paper is to produce a weighted graph map for path-planning of an autonomous mobile robot(AMR) based on the measurements from a single ultrasonic sensor, which are acquired when the autonomous mobile robot explores unknown indoor circumstance. The AMR navigates in th unknown space by following the wall and gathers the range data using the ultrasonic sensor, from which the occupancy grid map is constructed by associating the range data with occupancy certainties. Then, the occupancy grid map is converted to a weighted graph map suing morphological image processing and thinning algorithms. the path- planning for autonomous navigation of a mobile robot can be carried out based on the occupancy grid map. These procedures are implemented and tested using an AMR, and primary results are presented in this paper.

• Journal of Institute of Control, Robotics and Systems
• /
• v.2 no.3
• /
• pp.200-208
• /
• 1996

This paper describes the mechanism, guidance, sensor system, and navigation algorithm of METRO, a free ranging mobile robot. METRO is designed for use in structured surroundings or factory environments rather than unstructured natural environments. An overview of the physical configuration of the mobile robot is presented as well as a description of its sensor system, an omnidirectional laser range finder. Except for the global path planning algorithm, a guidance and a navigation algorithm with a local path planning algorithm are used to navigate the mobile robot. In METRO the computer support is divided into a supervisor with image processing and local path planning and a slave with motor control. The free ranging mobile robot is self-controlled and all processing being performed on board.

• The Transactions of the Korea Information Processing Society
• /
• v.2 no.3
• /
• pp.343-353
• /
• 1995

The path navigation of autonomous guided vehicle(AGV) or autonomous mobile robot(AMR) assumed that the environment was completely known and the obstacles were fixed. So that, in an environment only partly known or not known at all, the previous works were not successful since the path exploration techniques involved in the work were neither directly applicable nor extensible. In order to improve such problems, this paper was adopted the quadtree technique and proposed the algorithm for an optimal path planning autonomously in an environment and proved a validity through a simulation.

• Proceedings of the Korea Information Processing Society Conference
• /
• 2000.10b
• /
• pp.1107-1110
• /
• 2000

망 복구에 있어서 주요한 과제는 복구의 대상으로 하고 있는 작업 경로(working path)에 대한 복구경로(restoration path) 흑은 대체 경로(backup path)를 설정하는 것이다. 대체 경로를 설정할 때 작업경로의 대역을 보장할 수 있는 대체 경로를 설정해야 한다. 따라서 이 과제는 대역의 보장을 고려하여 경로를 설정하는 QoS 라우팅의 해결책이 요구된다. 본 논문에서는 동일 링크의 작업 경로가 아닐 경우 대체 경로의 대역을 공유함으로써 최대한 대역의 소비를 피하면서, 작업 경로의 대역을 보장하는 대체 경로를 설정하는 disjoint 경로를 계산하는 알고리즘을 제시하고 시뮬레이션을 통해서 대체 경로로 인한 대역의 소비(bandwidth consumption) 효과를 분석하였다.

• The Transactions of the Korea Information Processing Society
• /
• v.6 no.3
• /
• pp.681-691
• /
• 1999

It was already proved that ATM stability and flexibility of service application, but because of the various characteristics of traffics and the QoS on user demand caused by them, there are a lot of researches for traffic management method. However, there are a few of researches for ATM routing method acting on traffic management practically. In this paper, we focus on multi-path routing method transporting cells with multiple paths and compare this method with existing single path routing method and analyze multi-path routing method into three elements with simple formula and propose anew methods improving the performance of ATM routing and simulate these methods.

• Proceedings of the Korea Information Processing Society Conference
• /
• 2019.05a
• /
• pp.76-78
• /
• 2019

Sampling-based algorithms are one of the most commonly approaches which give good results in robot path planning with many degree of freedom. So that many proposed methods as well as their improvement based on these approaches have been proposed. The purpose of this paper is to survey some current algorithms using for path planning, the original proposed methods as well as their improvement. Some advantages and disadvantages of these algorithms will be also mentioned, how the improved version of the proposed methods overcome the original proposed methods' drawback.

• 제어로봇시스템학회:학술대회논문집
• /
• 2001.10a
• /
• pp.36.4-36
• /
• 2001

A robust and reliable path recognition system is one necessary component for the autonomous navigation of a mobile robot to help determining its current position in its navigation map. This paper describes a computer visual path-recognition system using on-board video camera as vision-based driving assistance for an autonomous navigation mobile robot. The common problem for a visual system is that its reliability was often influenced by different lighting conditions. Here, two different image processing methods for the path detection were developed to reduce the effect of the luminance: one is based on the RGB color model and features of the path, another is based on the HSV color model in the absence of luminance.

• Proceedings of the Korea Information Processing Society Conference
• /
• 2004.05a
• /
• pp.1529-1532
• /
• 2004

A Mobile Ad Hoc NETwork (MANET) is a collection of wireless mobile nodes that forms a temporary network without the need for any existing network infrastructure or centralized administration. Therefore, such a network is designed to operate in a highly dynamic environment due to node mobility. In mobile ad hoc network, frequent topological changes cause routing a challenging problem and without the complete view of the network topology, establishing the shortest path from the source node to the destination node is difficult. In this paper, we suggest a routing approach which utilizes location information to setup the shortest possible path between the source node and the destination node. Location information is obtained through Global Positioning System (GPS) and this geographical coordinate information of the destination node is used by the source node and intermediate nodes receiving route request messages to determine the shortest path to the destination from current node.

• Journal of KIISE:Databases
• /
• v.31 no.1
• /
• pp.61-71
• /
• 2004

XML can describe a wide range of data, from regular to irregular and from flat to deeply nested. Thus, XML is rapidly emerging as the do facto standard for the Web document format since XML supports an efficient data exchange and integration. Also, to retrieve the data represented by XML, several XML query languages are proposed. XML query languages such as XPath and XQuery use path expressions to traverse irregularly structured data which comprise B% elements. To evaluate path expressions, various path indexes are proposed. However, traditional path indexes are constructed by utilizing only the XML data structure. Therefore, in this paper, we propose an adaptive path index which utilizes the XML data structure as well as query workloads. To improve the query performance, the adaptive path index proposed by this paper manages the frequently used paths and the structural summary of the XML data using a hash tree and a graph structure. Experimental results show that the adaptive path index improves the query performance typically 2 to 69 times compared with the existing indexes.