• Journal of the Korea Institute of Military Science and Technology
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• v.20 no.6
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• pp.803-812
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• 2017

This paper proposes a local path planning method for stable autonomous driving in rough terrain. There are various path planning techniques such as candidate paths, star algorithm, and Rapidly-exploring Random Tree algorithms. However, such existing path planning has limitations to reflecting the stability of unmanned ground vehicles. This paper suggest a path planning algorithm that considering the stability of unmanned ground vehicles. The algorithm is based on the genetic algorithm and assumes to have probability based obstacle map and elevation map. The simulation result show that the proposed algorithm can be used for real-time local path planning in rough terrain.

• Journal of the Korea Society of Computer and Information
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• v.28 no.10
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• pp.103-111
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• 2023

Mountains area, especially walking in open space is important for special active field which is based on mountain terrain. Recent research on pedestrian-path includes elements about pedestrian and various environment by analyzing network, but it is mainly focusing on limited space except for data-poor terrain like a mountain terrain. This paper proposes an architecture to generate walking path considering the slope for mountain terrain open space through virtual network made of mesh. This architecture shows that it reflects real terrain more effective when measuring distance using slope and is possible to generate mountain walking path using open space unlike other existing services, and is verified through the test. The proposed architecture is expected to utilize for pedestrian-path generation way considering mountain terrain open space in case of distress, mountain rescue and tactical training and so on.

• Proceedings of the Korean Environmental Sciences Society Conference
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• 2004.05a
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• pp.183-184
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• 2004

• Korean Journal of Remote Sensing
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• v.10 no.2
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• pp.121-132
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• 1994

A GIS based tactical terrain analysis system named ATTAS(Army Tactical Terrain Analysis Software) has been designed and implemented to support the field commanders for enhancing the capabiliy of their unit and efficiency of weapon system. This system is designed to provide computer graphics environment in which the analyst can interactively operate the entire analyzing process such as selecting the area of interest, performing analysis functions, simulating required battlefield operation and display the results. This system can be divided into three major sections; the terrain analysis modules, utilites, and graphic editor. The terrain analysis module inclused surface analysis, line of sight analysis, enemy disposition, 3D display, radar coverage, logistic route analysis, shortest path analysis, atmospheric phenomena prediction, automated IPB (Inteligence preparation of Battlefield), and other applied analysis. A combination of 2D and 3D computer graphics techniques using the X-window system with OSF/Motif in UNIX workstation was adopted as the user interface. The integration technique of remotely sensed images and GIS data such as precision registration, overlay, and on-line editing was developed and implemented. An efficient image and GIS data management technique was also developed and implemented using Oracle Database Management System.

• The Journal of Korea Robotics Society
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• v.17 no.4
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• pp.438-446
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• 2022

In this paper, we propose an intelligent three-legged landing system that can maintain stability and level even on rough terrain than conventional four-legged landing systems. Conventional landing gear has the limitation that it requires flat terrain for landing. The 3-leg landing system proposed in this paper extends the usable range of the legs and reduces the weight, allowing the quadcopter to operate in various environments. To do this, kinematics determine the joint angles and coordinates of the legs of the two-link structure. Based on the angle value of the quadcopter detected via the IMU sensor, the leg control method that corrects the posture is determined. A force sensor attached to the end of the leg is used to detect contact with the ground. At the moment of contact with the ground, landing control starts according to the value of the IMU sensor. The proposed system verifies its reliability in various environments through an indoor landing test stand. Finally, in an outdoor environment, the quadcopter lands on a 20 degree incline and 20 cm rough terrain after flight. This demonstrates the stability and effectiveness of the 3-leg landing system even on rough terrain compared to the 4-leg landing system.

• Journal of the Korean Society of Surveying, Geodesy, Photogrammetry and Cartography
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• v.30 no.5
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• pp.467-475
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• 2012

In this study, the problems were analyzed that derived a different position evaluation results depending on the unit grid size that are applied to the terrain slope analysis conducted to assess the its position and environmental impacts in the prior environment reviewing process of golf course construction projects. For this purpose, the unit grid size were analyzed that can precisely reflect a actual terrain by analyzing the change of a slope percentage according to the change of unit grid size about 12 golf courses is currently in progress of construction work through the environmental consultation or ongoing consultation. And the consultation availability of environmental assessment was reverified by applying the unit grid size derived through this study about a study golf course. In the result of study, the bigger grid size for slope analysis is set, the greatly gradient is changed and the slope ratio of the higher elevation was lowly evaluated in comparison with actual terrain. The analytical result that most closely match the actual terrain was extracted in the case applied $5m{\times}5m$ of the unit grid sizes setting in this study. So, we proposed this study results to the ministry of environment and could be amended the unit grid size of $5m{\times}5m$ as standard for the analysis of slope. Also, if new grid size for site evaluation is applied to the study sites, 4 sites exceed the standard suggested the existing regulations and they are not proper as golf course site in flank of environment.

• Journal of Korean Society for Atmospheric Environment
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• v.16 no.3
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• pp.211-223
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• 2000

The atmospheric dispersion of a pollutant emitted from a hypothetical source located in the middle of the Yochon Industrial Estate was simulated by using the Regional Atmospheric Modeling System (RAMS). Four horizontally nested grids were employed: the coarsest one covered the southern part of the Korean Peninsula including Mt. Chiri and the finest one covered the Yochon Industrial Estate and the surrounding area. Wind fields were initially assumed horizontally homogeneous with a wind speed of 4m/s, the average for the Yosu area, and were developed without both external forces and diurnal changes in order to investigate the terrain-induced phenomena. Wind directions that could emphasize the terrain effects on the pollutant transport and that could carry pollutants to a highly-popluated area were selected for the dispersion study. A pollutant was released for 24hours from a grid-base volume source after a 24-h blank run for developing the wind field. The dispersion study showed that the pollutant from the present source location did not directly affect the Yosu City, but showed high concentrations at locations behind the hills 5 to 6 km away from the source according to wind directions. When the wind speed was low, close to calm condition, the pollutant was detected at upstream locations 6 to 7 km from the source. In comparison with the results from the RAMS simulation, the Industrial Source Complex Short-Term Model(ISCST3) predicted a narrow dispersion that was sensitive to the wind direction. When the wind velocity was affected by the local environment, the ISCST3 calculation using that data also gave a lop-sided result, which was different from the distribution of the pollutant reproduced by RAMS.

• Journal of Institute of Control, Robotics and Systems
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• v.20 no.12
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• pp.1272-1277
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• 2014

This article describes a path planning algorithm for fixed-wing UAVs when a real terrain should be considered. Nowadays, many UAVs are required to perform mission flights near given terrain for surveillance, reconnaissance, and infiltration, as well as flight altitude of many UAVs are relatively lower than typical manned aerial vehicles. Therefore, real terrain should be considered in path planning algorithms of fixed-wing UAVs. In this research, we have extended a spline-$RRT^*$ algorithm to three-dimensional planner. The spline-$RRT^*$ algorithm is a $RRT^*$ based algorithm, and it takes spline method to extend the tree structure over the workspace to generate smooth paths without any post-processing. Direction continuity of the resulting path is guaranteed via this spline technique, and it is essential factor for the paths of fixed-wing UAVs. The proposed algorithm confirm collision check during the tree structure extension, so that generated path is both geometrically and dynamically feasible in addition to direction continuity. To decrease degrees of freedom of a random configuration, we designed a function assigning directions to nodes of the graph. As a result, it increases the execution speed of the algorithm efficiently. In order to investigate the performance of the proposed planning algorithm, several simulations are performed under real terrain environment. Simulation results show that this proposed algorithm can be utilized effectively to path planning applications considering real terrain.

• Proceedings of the Korea Committee for Ocean Resources and Engineering Conference
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• 2006.11a
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• pp.257-260
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• 2006

West coast of Korea belongs to the five largest tidal-flat zones in the world. Aiming at the efficient management and preservation of the eco-system and the enhancement of the bio-productivity of the tidal-flat zones, development of a environment-friendly vehicle for tidal-flat area is being attempted. This paper deals with the description of the characteristics of the tidal-flat zones of west coast of Korea, the technology assessment of the related products in the ATV(All-Terrain Vehicle) market, the demand assessment for the resident people.

• Journal of Korean Society for Atmospheric Environment
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• v.18 no.E4
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• pp.215-221
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• 2002

The real-time modeling system, named AirWatch System, has been developed to evaluate the environmental impact from a large source. It consists of stack TMS (TeleMetering System) that measures the emission data from the source, AWS (Automatic Weather Station) that monitors the weather data and computer system with the dispersion modeling software. The modeling theories used in the system are Gaussian plume and puff models. The Gaussian plume model is used for the dispersion in the simple terrain with a point meteorological data while the puff model is for the dispersion in complex terrain with three dimensional wind fields. The AirWatch System predicts the impact of the emitted pollutants from the large source on the near-by environment on the real -time base and the alarm is issued to control the emission rate if the calculated concentrations exceed the modeling significance level.