• Journal of Institute of Control, Robotics and Systems
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• v.17 no.7
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• pp.651-658
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• 2011

An efficient modified $D^*$ lite algorithm is suggested, which can perform online path planning for mobile robots in dynamic indoor environment. Online path planning should plan and execute alternately in a short time, and hence it enables the robot avoid unknown dynamic obstacles which suddenly appear on robot's path. Based on $D^*$ Lite algorithm, we improved representation of edge cost, heuristic function, and priority queue management, to build a modified $D^*$ Lite algorithm. Performance of the proposed algorithm is revealed via extensive simulation study.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2004.10a
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• pp.471-474
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• 2004

In this paper, a NURBS surface interpolator is proposed which can deal with shapes defined from CAD/CAM programs on a surface basis and can improve contour accuracy. The proposed interpolator is based on newly defined G-codes and includes online tool-path planning suitable for NURBS surface machining. The real-time interpolation algorithm, considering an effective machining method for each machining process and minimum machining time, is executed in an online manner. The proposed interpolator is implemented on a PC-based 3-axis CNC milling system and evaluated through actual machining in terms of machining time and regulation of feedrate and cutting force in comparison with the existing method.

• Journal of Institute of Control, Robotics and Systems
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• v.22 no.3
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• pp.192-198
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• 2016

Motion planning problem is still one of the important issues in robotic applications. In many real-time motion planning problems, it is advisable to find a feasible solution quickly and improve the found solution toward the optimal one before the previously-arranged motion plan ends. For such reasons, sampling-based approaches are becoming popular for real-time application. Especially the use of a rapidly exploring random $tree^*$ ($RRT^*$) algorithm is attractive in real-time application, because it is possible to approach an optimal solution by iterating itself. This paper presents a modified version of informed $RRT^*$ which is an extended version of $RRT^*$ to increase the rate of convergence to optimal solution by improving the sampling method of $RRT^*$. In online motion planning, the robot plans a path while simultaneously moving along the planned path. Therefore, the part of the path near the robot is less likely to be sampled extensively. For a better solution in online motion planning, we modified the sampling method of informed $RRT^*$ by combining with the sampling method to improve the path nearby robot. With comparison among basic $RRT^*$, informed $RRT^*$ and the proposed $RRT^*$ in online motion planning, the proposed $RRT^*$ showed the best result by representing the closest solution to optimum.

• Journal of the Korean Society for Precision Engineering
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• v.23 no.9 s.186
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• pp.156-163
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• 2006

The purpose of this study is to improve the machining of free-formed NURBS surfaces using newly defined G-codes which can directly deal with shapes defined from CAD/CAM programs on a surface basis and specialize in rough and finish cut. To this purpose, a NURBS surface interpolation system is proposed in this paper. The proposed interpolation system includes online tool-path planning, real-time interpolation and feedrate regulation considering an effective machining method and minimum machining time all suitable for unit NURBS surface machining. The corresponding algorithms are simultaneously executed in an online manner. The proposed NURBS surface interpolation system is integrated and implemented with a PC-based 3-axis CNC milling system. A graphic user interface (GUI) and a 3D tool-path viewer which interprets the G-codes for NURBS surfaces and displays whole tool-paths are also developed and included in our real-time control system. The proposed system is evaluated through actual machining in terms of size of NC data, machining time, regulation of feedrate and cutting force focused on finish cut in comparison with the existing method.

• Journal of the Korean Society of Industry Convergence
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• v.19 no.2
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• pp.75-80
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• 2016

This study proposes a efficient technology to control the optimal trajectory planning and real-time implementation method which can perform autonomous travelling for unmaned factory automation. Online path planning should plan and execute alternately in a short time, and hence it enables the robot avoid unknown dynamic obstacles which suddenly appear on robot's path. Based on Route planning and control algorithm, we suggested representation of edge cost, heuristic function, and priority queue management, to make a modified Route planning algorithm. Performance of the proposed algorithm is verified by simulation test.

• KSII Transactions on Internet and Information Systems (TIIS)
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• v.6 no.12
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• pp.3197-3218
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• 2012

Compared with traditional itinerary planning, intention-oriented itinerary recommendations can provide more flexible activity planning without requiring the user's predetermined destinations and is especially helpful for those in unfamiliar environments. The rank and classification of points of interest (POI) from location-based social networks (LBSN) are used to indicate different user intentions. The mining of vehicles' physical trajectories can provide exact civil traffic information for path planning. This paper proposes a POI category-based itinerary recommendation framework combining physical trajectories with LBSN. Specifically, a Voronoi graph-based GPS trajectory analysis method is utilized to build traffic information networks, and an ant colony algorithm for multi-object optimization is implemented to locate the most appropriate itineraries. We conduct experiments on datasets from the Foursquare and GeoLife projects. A test of users' satisfaction with the recommended items is also performed. Our results show that the satisfaction level reaches an average of 80%.

• Journal of Distribution Science
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• v.18 no.6
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• pp.25-35
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• 2020

Purpose:Travel agencies have use digital tools in order to shift the paradigm in how business is conducted. Online travel agencies provide the same services as a normal travel agency, including hotels, transportation, guided tours, reservations, and related services, but using an "online platform. Travelers planning a trip can use a lot of forms to collect information and have access to a larger amount of information, so the factors that influence the user's behavioral intention are very important. This research has the conducted to find what factors lead to the attitudes of consumers in using OTA using the UTAUT model. Research design, data and methodology: The object of this study were respondents of a google survey using convenient sample extraction method, chosen among consumers who gathered information, or purchased a product. A total of 217 of the 235 questionnaires Google survey answered were used in the final analysis, excluding insincere responses. Using PSS v.21 and AMOS v.21, frequency analysis, feasibility and reliability analysis, path analysis was performed. Results: UTAUT affects OTA use satisfaction and trust, and OTA satisfaction and trust affect behavior intention. Conclusions: Research was conducted using the UTAUT model to explore factors that affect the attitudes of users of online travel agencies (OTA).

• Journal of the Korea Convergence Society
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• v.10 no.7
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• pp.23-31
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• 2019

In this study, we collected data through online travel notes from January to December 2018 and analyzed the seasonal travel characteristics of individual visiting Chinese by utilizing social network analysis. The analysis showed that Seoul is a hub for Chinese travel to Korea and the main destinations for individual visiting Chinese are concentrated in Seoul, Busan, Jeju Island, Gyeongju and Gangneung, with wide differences in seasons. The research results can be used as basic data for the development of tourism courses for individual Chinese tourists to Korea, provision of tourism services and optimization of tourism facility layout. Future research can consider continuing to use network travel notes to study the tourist destination and the mode of transportation between tourist nodes, which can provide reference for the development of tourist market and the planning and design of tourist traffic.

• ETRI Journal
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• v.43 no.4
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• pp.617-629
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• 2021

Although the actual visual simultaneous localization and mapping (SLAM) algorithms provide highly accurate tracking and mapping, most algorithms are too heavy to run live on embedded devices. In addition, the maps they produce are often unsuitable for path planning. To mitigate these issues, we propose a completely closed-loop online dense RGB-D SLAM algorithm targeting autonomous indoor mobile robot navigation tasks. The proposed algorithm runs live on an NVIDIA Jetson board embedded on a two-wheel differential-drive robot. It exhibits lightweight three-dimensional mapping, room-scale consistency, accurate pose tracking, and robustness to moving objects. Further, we introduce a navigation strategy based on the proposed algorithm. Experimental results demonstrate the robustness of the proposed SLAM algorithm, its computational efficiency, and its benefits for on-the-fly navigation while mapping.

• The Journal of the Convergence on Culture Technology
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• v.6 no.1
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• pp.343-350
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• 2020

In this paper, we present the results of research on the reconstruction of ancient routes of ancient civilization exchange that were once present in the North Jeolla region, which was undertaken by adopting a convergent approach to develop 'Silkroadpia', which is an online platform for the curation and sharing of archaeological and historical spatial data, and 'MEPTA(Multiple Evidence Based Path and Territory Finding Algorithm)'. The results of the research make it possible to reconsider the region's historical identity and its important role in facilitating cultural exchange on the Korean Peninsula and in East Asia. The results can also be used to provide the theoretical basis for the government's land planning policies and for the production of cultural contents that can be used for local regeneration. The ancient route associated with the Baekje Restoration Movement, that took place after the fall of Sabi in 660 CE, was the case study examined in this paper, which discusses the academic value of reconstructing the ancient route, as well as its future use in providing cultural contents.