• 한국정보통신학회논문지
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• 제17권1호
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• pp.233-241
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• 2013

무선 센서 네트워크에서 효율적인 대체 노드의 관리 및 유지 방법에 관한 문제는 매우 근본적인 문제 중 하나이다. 특히 계층적 클러스터에서 각 그룹 멤버 노드의 대체 기능이 가능한 노드(Alternative node)를 선정하여 임의 노드의 경로 단절시 대체 경로를 찾기 위해서는 대체 노드의 기능이 절차에 따라 실시간으로 경로를 복구 할 수 있어야 하며, 에너지를 최소화하여 네트워크를 유지 관리가 가능해야 한다. 본 논문에서 제안한 EEAP(Energy-Efficient Alternative Paths)는 이러한 양부 헤드 노드를 선정함에 있어서 에너지 잔량과 노드간의 거리등의 노드 속성 정보를 활용하여 각 경로에서 소모되는 비용과 노드의 관리에 있어 경비가 효율적인 경로의 대체 노드를 제공하게 됨으로 효율적인 에너지 관리를 할 수 있게 되어 전체 네트워크의 유지 시간을 향상 시킬 수 있는 결과를 보여주었다.

• 산업경영시스템학회지
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• 제47권2호
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• pp.147-154
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• 2024

This study focuses on the path planning algorithm for large-scale autonomous delivery using drones and robots in urban environments. When generating delivery routes in urban environments, it is essential that avoid obstacles such as buildings, parking lots, or any other obstacles that could cause property damage. A commonly used method for obstacle avoidance is the grid-based A* algorithm. However, in large-scale urban environments, it is not feasible to set the resolution of the grid too high. If the grid cells are not sufficiently small during path planning, inefficient paths might be generated when avoiding obstacles, and smaller obstacles might be overlooked. To solve these issues, this study proposes a method that initially creates a low-resolution wide-area grid and then progressively reduces the grid cell size in areas containing registered obstacles to maintain real-time efficiency in generating paths. To implement this, obstacles in the operational area must first be registered on the map. When obstacle information is updated, the cells containing obstacles are processed as a primary subdivision, and cells closer to the obstacles are processed as a secondary subdivision. This approach is validated in a simulation environment and compared with the previous research according to the computing time and the path distance.

• 한국CDE학회논문집
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• 제9권2호
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• pp.102-111
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• 2004

In this paper, the efficient layout method for generating common and continuous cutting path of flat-bar profile. The ‘flat -bar’ is a stiffener and has long rectangular shape. This paper describes a fast nesting algorithm of the flat-bar, and a procedure to generate cutting path of gas/plasma torch, which is operated by a NC (numerically controlled) gas/plasma cutting machine. By using this common and continuous path, the machining-time for cutting and the maintenance-cost of plasma-torch could be reduced. Proposed procedures are written in C-language and applied to the Interactive Flat-Bar-Nesting System executable on Open VMS with X-Window system.

• 로봇학회논문지
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• 제5권1호
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• pp.41-47
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• 2010

This paper proposes a path planning method of a mobile robot in two-dimensional work space. The path planning method is based on a cell decomposition approach. To create a path which consists of a number of line segments, the Delaunay Triangulation algorithm is used. Using the cells produced by the Delaunay Triangulation algorithm, a mesh generation algorithm connects the starting position to the goal position. Dijkstra algorithm is used to find the shortest distance path. Greedy algorithm optimizes the path by deleting the path segments which detours without collision with obstacles.

• 한국멀티미디어학회논문지
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• 제8권6호
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• pp.729-734
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• 2005

In order to access XML data stored in object databases, an efficient index scheme is inevitable. There have been several index schemes that can be used to efficiently retrieve XML data stored In object databases, but they are all the single path indexes that support indexing along a single schema path. Henee, if a query contains an extended path which is denoted by wild character ('*'), a query processor has to examine multiple index objects, resulting in poor performance and inconsistent index management. In this paper, we propose MPI (Multi-Path Index) scheme as a new index scheme that provides the functionality of multiple path indexes more efficiently, while it uses only one index structure. The proposed scheme is easy to manage since it considers the extended path as a logically single schema path. It is also practical since it can be implemented by little modification of the B -tree index structure.

• 대한전기학회:학술대회논문집
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• 대한전기학회 1999년도 추계학술대회 논문집 학회본부 B
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• pp.627-629
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• 1999

The research fields of mobile robot consist of three parts. The first is path planning, the second is the application of new sensors, and the last is a combination of the communication technology and mobile robot. In this paper we treat the path-planning. We use a Bayesian probability map, Distance Transform and Fuzzy logic for a path-planning. DT and Fuzzy logic algorithms search for path in entire, continuous free space and unifies global path planning and local path planning. It is efficient and effective method when compared with navigators using traditional approaches.

• 대한전기학회:학술대회논문집
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• 대한전기학회 1997년도 추계학술대회 논문집 학회본부
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• pp.576-580
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• 1997

This paper presents a path planning algorithm for biped walking robot in 3-D workspace. Since the biped walking robot can generate path on some 3-D obstacles that cannot generate path in case of mobile robot, we have to make a new path planning algorithms. A 3-D-to-2-D mapping algorithm is proposed and two kinds of path planning algorithms are also proposed. They make it easier to generate an efficient path for biped walking robot under given environment. Some simulation results are shown to prove the effectiveness of proposed algorithms.

• 한국통신학회논문지
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• 제32권10A호
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• pp.1004-1014
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• 2007

In sensor networks, it is crucial to reliably and energy-efficiently deliver sensed information from each source to a sink node. Specifically, in mobile sink (user) applications, due to the sink mobility, a stationary dissemination path may no longer be effective. The path will have to be continuously reconfigured according to the current location of the sink. Moreover, the dynamic optimal path from each source to the sink is required in order to reduce end-to-end delay and additional energy wastage. In this paper, an Adaptive Reversal Optimal path Tree (AROT) protocol is proposed. Information delivery from each source to a mobile sink can be easily achieved along the AROT without additional control overhead, because the AROT proactively performs adaptive sink mobility management. In addition, the dynamic path is optimal in terms of hop counts and the AROT can maintain a robust tree structure by quickly recovering the partitioned tree with minimum packet transmission. Finally, the simulation results demonstrate that the AROT is a considerably energy-efficient and robust protocol.

• 한국국방경영분석학회지
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• 제26권2호
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• pp.120-130
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• 2000

The purpose of this study is to present a method for determining the k most vital arcs in shortest path problem using an evolutionary algorithm. The problem of finding the k most vital arcs in shortest path problem is to find a set of k arcs whose simultaneous removal from the network causes the greatest increase in the total length of shortest path. Generally, the problem determining the k most vital arcs in shortest path problem has known as NP-hard. Therefore, in order to deal with the problem of real world the heuristic algorithm is needed. In this study we propose to the method of finding the k most vital arcs in shortest path problem using an evolutionary algorithm which known as the most efficient algorithm among heuristics. The method presented in this study is developed using the library of the evolutionary algorithm framework and then the performance of algorithm is analyzed through the computer experiment.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2000년도 하계학술대회 논문집 D
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• pp.2846-2848
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• 2000

In this paper we propose a path planning method for an autonomous mobile robot based on genetic algorithms(GAs). There have been a number of methods proposed for the path planning of a mobile robot. However, few algorithms have been developed for an on-line path planning of a mobile robot with the uncertain information of a task environment. Therefore, we propose a path planning algorithms based on GAs that has ability of creating path planning without the perfect information of a task environment and an ability of planning the efficient path by on-line process. Then we show a possibility of the practical use with the results of simulations and experiments.