• Title/Summary/Keyword: Processing Path

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Path Planning Algorithm for Mobile Robot using Region Extension (영역 확장을 이용한 이동 로봇의 경로 설정)

  • Kwak, Jae-Hyuk;Lim, Joon-Hong
    • Proceedings of the KIEE Conference
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    • 2005.05a
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    • pp.249-251
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    • 2005
  • In this paper, an algorithm of path planning and obstacle avoidance for mobile robot is proposed. 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. By processing assigned numbers all regions are covered and then the path from start to destination is selected by these numbers. The RAS has an advantage of fast planning because of simple operations. This implies that new path selection may be possible within a short time and helps a robot to avoid obstacles in any direction. The algorithm can be applied to unknown environments. When moving obstacles appear, a mobile robot avoids obstacles reactively. then new path is selected by RAS.

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Optimal Path Planning Using Critical Points

  • Lee, Jin-Sun;Choi, Chang-Hyuk;Song, Jae-Bok;Chung, Woo-Jin;Kim, Mun-Sang
    • 제어로봇시스템학회:학술대회논문집
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    • 2001.10a
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    • pp.131.4-131
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    • 2001
  • A lot of path planning algorithms have been developed to find the collision-free path with minimum cost. But most of them require complicated computations. In this paper, a thinning method, which is one of the image processing schemes, was adopted to simplify the path planning procedure. In addition, critical points are used to find the shortest-distance path among all possible paths from the start to the goal point. Since the critical points contain the information on the neighboring paths, a new path can be quickly obtained on the map even when the start and goal points change. To investigate the validity of the proposed algorithm, various simulations have been performed for the environment where the obstacles with arbitrary shapes exist. It is shown that the optimal paths can be found with relative easiness.

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The Method to Setup the Path Loss Model by the Partial Interval Analysis in the Cellular Band

  • Park, Kyung-Tae;Bae, Sung-Hyuk
    • Journal of the Institute of Convergence Signal Processing
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    • v.14 no.2
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    • pp.105-109
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    • 2013
  • There are the free space model, the direct-path and ground reflected model, Egli model, Okumura-Hata model in the representative propagational models. The measured results at the area of PNG area were used as the experimental data in this paper. The new proposed partial interval analysis method is applied on the measured propagation data in the cellular band. The interval for the analysis is divided from the entire 30 Km distance to 5 Km, and next to 1 Km. The best-fit propagation models are chosen on all partial intervals. The means and standard deviations are calculated for the differences between the measured data and all partial interval models. By using the 5 Km- or 1 Km- partial interval analysis, the standard deviation between the measured data and the partial propagation models was improved more than 1.7 dB.

A Randomized Path-Hash Node Authentication Protocol based on Trust Relationship in Wireless Sensor Networks (무선 센서 네트워크 상에서 신뢰기반 Randomized Path-Hash노드 인증 프로토콜)

  • Kim Jin-Hwan;Park Seon-Ho;Jung Sung-Min;Eom Jung-Ho;Chung Tai-Myoung
    • Proceedings of the Korea Information Processing Society Conference
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    • 2006.05a
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    • pp.849-852
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    • 2006
  • 본 논문은 무선 센서 네트워크 라우팅 프로토콜에서 일어날 수 있는 보안 위협 요소들에 대해 알아보고 상호인증에 관한 문제를 해결할 수 있는 Randomized Path-Hash 노드 인증 프로토콜(RPHAP)을 제안한다. 이 프로토콜은 노드 간 상호인증을 제공하며 센서 추적에 대한 안전성까지 제공한다. 또한 간단한 연산 능력의 Hash를 이용하기 때문에 전력 소모에 대한 오버헤드가 적어 모든 센서 네트워크의 프로토콜에서 활용이 가능한 장점을 갖는다.

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Application of the Cepstrum Signal Processing Technique for the Noise Reflection Path Analysis in Community Noise (소음전달경로 분석 : 켑스트럼(Cepstrum) 적용방안에 관한 연구)

  • Hong, Yun-H.;Kim, Jeung-T.
    • Transactions of the Korean Society for Noise and Vibration Engineering
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    • v.19 no.5
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    • pp.447-453
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    • 2009
  • Community noise has been great concerned in public. A traffic noise from a road or a railway has affected too mush damage on quiet living environment. In this paper, a measured noise signal on a street has been applied to extract a noise source and a path by using a complex cepstrum. An example shows that the waveform of the source and the path could be separated if a temporal windowing is properly applied.

A High Speed Path Delay Fault Simulator for VLSI (고집적 회로에 대한 고속 경로지연 고장 시뮬레이터)

  • Im, Yong-Tae;Gang, Yong-Seok;Gang, Seong-Ho
    • The Transactions of the Korea Information Processing Society
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    • v.4 no.1
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    • pp.298-310
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    • 1997
  • Most of the available delay fault simulators for scan environments rely on the use of enhanced scan flip-flops and exclusively consider circuits composed of only discrete gates. In this research, a new path delay fault simulation algorithm using new logic values is devised to enlarge the scope to the VLSI circuits which consist of CMOS elements. Based on the proposed algorithm, a high speed path delay fault simulator for standard scan environments is developed. The experimental results show the new simulator is efficient and accurate.

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A Network-path based Web Cache Algorithm (네트워크 경로에 기초한 웹 캐쉬 알고리즘)

  • Min, Gyeong-Hun;Jang, Hyeok-Su
    • The Transactions of the Korea Information Processing Society
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    • v.7 no.7
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    • pp.2161-2168
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    • 2000
  • Since most of the existing web cache structures are static, they cannot support the dynamic request change of he current WWW users well. Users re generally using multiple programs in several different windows with rapid preference change within a relatively short period of time. We develop a network-path based algorithm. It organizes a cache according to the network path of the requested URLs and build a network cache farm where caches are logically connected with each other and each cache has its own preference over certain network paths. The algorithm has been implemented and tested in a real site. The performance results show that the new algorithm outperforms the existing static algorithms in the hit ratio and response time dramatically.

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Visualization of Graph Search Algorithm using Java (자바를 이용한 그래프 검색 알고리즘의 시각화)

  • Jung, Yeon-Jin;Cheon, Sang-Hyun;Kim, Eun-Kyu;Lee, Kwang-Mo;Choi, Hong-Sik
    • Proceedings of the Korea Information Processing Society Conference
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    • 2001.04b
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    • pp.1165-1168
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    • 2001
  • 최단경로문제(Shortest Path Problem)는 네트???p에서 하나 혹은 그 이상의 노드들의 쌍 사이에서 가장 짧은 경로, 가장 저렴한 경로 또는 가장 신뢰할 만한 경로를 찾을 때 고려된다. 컴퓨터나 통신망들은 edge-weighted 그래프로 대치될 수 있으며 그렇게 함으로써 최단 경로를 찾아줄 수 있다. 통신 링크는 실제 실패할 수도 있고, 또한 전송될 데이터의 양에 따라 전달되는 시간이 달라지기도 하므로, 가장 신뢰할만한 경로 중에서 가장 빠른 경로(The Quickest Most Reliable Path) 문제와 가장 빠른 경로 중에서 가장 신뢰할만한 경로(The Most Reliable Quickest Path) 문제는 최단경로문제보다 더 현실적이다[1]. 이 논문에서는 그 중 '가장 신뢰할만한 경로 중에서 가장 빠른 경로' 문제를 자바를 사용하여 시각화함으로써 가변 상황에 따라 다른 경로를 찾아주는 과정을 보여준다.

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A Signal Path Control Switch Using FPGA (FPGA로 설계한 신호경로제어스위치)

  • 이상훈;김성진
    • Proceedings of the Korea Institute of Convergence Signal Processing
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    • 2001.06a
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    • pp.81-84
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    • 2001
  • A signal path control switch has been designed and implemented with AT&T 0.5${\mu}{\textrm}{m}$ CMOS ORCA FPGA. This device controls the path of digital signals in SDH-based transmission system. The proposed switch is suitable for self-healing operation which protects against transmission network failure. The self-healing operation of the switch is effectively done by the reconfigurable information stored in the registers of the switch. This device consists of eight subparts such west-east transmitting parts, west-east receiving parts, add-drop control parts, AIS control Part, and CPU interface part. The device is capable to a ring network as well as a linear network.

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Reinforcement Learning Using State Space Compression (상태 공간 압축을 이용한 강화학습)

  • Kim, Byeong-Cheon;Yun, Byeong-Ju
    • The Transactions of the Korea Information Processing Society
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    • v.6 no.3
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    • pp.633-640
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    • 1999
  • Reinforcement learning performs learning through interacting with trial-and-error in dynamic environment. Therefore, in dynamic environment, reinforcement learning method like Q-learning and TD(Temporal Difference)-learning are faster in learning than the conventional stochastic learning method. However, because many of the proposed reinforcement learning algorithms are given the reinforcement value only when the learning agent has reached its goal state, most of the reinforcement algorithms converge to the optimal solution too slowly. In this paper, we present COMREL(COMpressed REinforcement Learning) algorithm for finding the shortest path fast in a maze environment, select the candidate states that can guide the shortest path in compressed maze environment, and learn only the candidate states to find the shortest path. After comparing COMREL algorithm with the already existing Q-learning and Priortized Sweeping algorithm, we could see that the learning time shortened very much.

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