• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2000년도 제15차 학술회의논문집
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• pp.399-399
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• 2000

In this paper, path generation using the sensor platform is proposed. The sensor platform is composed two electric motors which make panning and tilting motions. An algorithm fur a real path form and an obstacle length is realized using a scanning algorithm to rotating the sensors on the sensor platform. An ARV (Autonomous Robot Vehicle) is able to recognize the given path by adapting this algorithm. In order for the ARV to navigate the path flexibly, a kinematic model needed to be constructed. The kinematic model of the ARV was reformed around its body center through a relative velocity relationship to controllability, which derives from the nonholonomic characteristics. The optimal controller that is based on tile kinematic model is operated purposefully to track a reference vehicle's path. The path generation algorithm is composed of two parks. On e part is the generating path pattern, and the other is used to avoid an obstacle. The optimal controller is used for tracking the reference path which is generated by recognizing the path pattern. Results of simulation show that this algorithm for an ARV is sufficient for path generation by small number of sensors and for low cost controller.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2004년도 하계학술대회 논문집 A
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• pp.117-119
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• 2004

An optimal flight motion simulator path generation method is proposed for hardware in the loop simulation of high maneuverable missile. The proposed method consists of open loop and closed loop path calculation algorithm based on the energy optimal control strategies. The optimal angle command is able to protect the simulator from high acceleration shock at initial control phase.

• KSII Transactions on Internet and Information Systems (TIIS)
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• 제10권7호
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• pp.3100-3116
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• 2016

With the rapid development of urban traffic system and fast increasing of vehicle numbers, the traditional centralized ways to generate the source-destination shortest path in terms of travel time(the optimal path) encounter several problems, such as high server pressure, low query efficiency, roads state without in-time updating. With the widespread use of smart cameras in the urban traffic and surveillance system, this paper maps the optimal path finding problem in the dynamic road network to the shortest routing problem in the smart camera networks. The proposed distributed optimal path generation algorithm employs the delay routing and caching mechanism. Real-time route update is also presented to adapt to the dynamic road network. The test result shows that this algorithm has advantages in both query time and query packet numbers.

• 제어로봇시스템학회논문지
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• 제20권2호
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• pp.138-142
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• 2014

This research presents an A* based algorithm which can be applied to Unmanned Ground Vehicle self-navigation in order to make the driving path smoother. Based on the grid map, A* algorithm generated the path by using straight lines. However, in this situation, the knee points, which are the connection points when vehicle changed orientation, are created. These points make Unmanned Ground Vehicle continuous navigation unsuitable. Therefore, in this paper, B-spline curve function is applied to transform the path transfer into curve type. And because the location of the control point has influenced the B-spline curve, the optimal control selection algorithm is proposed. Also, the optimal path tracking speed can be calculated through the curvature radius of the B-spline curve. Finally, based on this algorithm, a path created program is applied to the path results of the A* algorithm and this B-spline curve algorithm. After that, the final path results are compared through the simulation.

• Journal of Mechanical Science and Technology
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• 제16권2호
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• pp.137-146
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• 2002

In this paper, a path generation algorithm that uses sensor scannings is described. A scanning algorithm for recognizing the ambient environment of the Automatic Guided Vehicle (AGV) that uses the information from the sensor platform is proposed. An algorithm for computing the real path and obstacle length is developed by using a scanning method that controls rotating of the sensors on the platform. The AGV can recognize the given path by adopting this algorithm. As the AGV with two-wheel drive constitute a nonholonomic system, a linearized kinematic model is applied to the AGV motor control. An optimal controller is designed for tracking the reference path which is generated by recognizing the path pattern. Based on experimental results, the proposed algorithm that uses scanning with a sensor platform employing only a small number of sensors and a low cost controller for the AGV is shown to be adequate for path generation.

• 한국군사과학기술학회지
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• 제13권6호
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• pp.951-957
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• 2010

An optimal path generation method considering the safety of UGV(Unmanned Ground Vehicle) is proposed and demonstrated through examples. Among various functions of UGV, real-time obstacle avoidance is a key issue to realize realistic scenario in FCS(Future Combat Systems). A two-dimensional narrow corridor environment is considered as a test field. For each step of UGV movement, two objectives are considered: One is to minimize the distance to the target and the other to maximize the distance to the nearest point of an obstacle. A weighted objective function is used in the optimization problem. Equality and inequality constraints are taken to secure the UGV's dynamics and safety. The weighting factors are controlled by a fuzzy controller which is constructed by a fuzzy rule set and membership functions. Simulations are performed for two cases. First the weighting factors are considered as constant values to understand the characteristics of the corresponding solutions and then as variables that are adjusted by the fuzzy controller. The results are satisfactory for realistic situations considered. The proposed optimal path generation with the fuzzy control is expected to be well applicable to real environment.

• 한국정보통신학회:학술대회논문집
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• 한국해양정보통신학회 2005년도 춘계종합학술대회
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• pp.671-674
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• 2005

본 논문은 웹기반 게임 컨텐츠로써의 최적 미로 게임 개발에 대한 논문이다. 웹을 이용한 클라이언트 접속자는 자바 애플릿을 이용하여 웹상에서 접근 가능하고 Java Bytecode의 다운로드에 의해 각 클라이언트 접속자의 하드웨어시스템에 무관하게 작동가능하다. 본 논문에서 개발된 최적 미로 게임은 랜덤 미로 생성기, 미로 내 경로 입력기, 가중 최적 경로 탐색기, 및 비교기 등으로 구성되어 있다. 최적 미로 탐색 알고리즘으로 탐색된 경로와 사용자가 선택한 경로의 cost 비교를 통하여 사용자의 지리적 인지력을 정량적으로 평가 및 도시함으로써 사용자의 지리적 인지력 향상을 유도할 수 있다.

• 한국정밀공학회지
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• 제17권2호
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• pp.176-184
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• 2000

Possible representation methods for the product structure have been compared and analyzed to determine optimal disassembly path of a product. Petri net is selected as the most optimal method to represent disassembly path of the product. In this method, a reachability tree for the product is generated and disassembly time for each path is calculated. A path with the smallest disassembly time is selected as the optimal path. A software far DPN(Disassembly Petri Net) has been developed and applied to search the optimal disassembly path for a ballpoint pen disassembly process as an example.

• 한국정보통신학회:학술대회논문집
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• 한국해양정보통신학회 2007년도 춘계종합학술대회
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• pp.113-116
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• 2007

본 논문은 웹기반 게임 컨텐츠로써의 3차원 최적 미로 게임 개발에 대한 논문이다. 웹을 이용한 클라이언트 접속자는 자바 애플릿을 이용하여 웹상에서 접근 가능하고 Java Bytecode의 다운로드에 의해 각 클라이언트 접속자의 하드웨어시스템에 무관하게 작동가능하다. 본 논문에서 개발된 최적 미로 게임은 랜덤 미로 생성기, 미로 내 경로 입력기, 가중 최적 경로 탐색기, 및 비교기 등으로 구성되어 있다. 최적 미로 탐색알고리즘으로 탐색된 경로와 사용자가 선택한 경로의 cost 비교를 통하여 사용자의 공간적 인지력을 정량적으로 평가 및 도시함으로써 사용자의 공간적 인지력 향상을 유도할 수 있다.

• 한국항공우주학회지
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• 제37권11호
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• pp.1104-1111
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• 2009

항공기는 저고도에서 임무를 수행할 때, 대공 미사일과 지형 장애물 같은 다양한 위협들에 제약을 받는다. 특히, 항공기는 지면 근처에서 항상 지형과의 충돌 위험을 갖는다. 본 연구에서는 이 문제에 효과적으로 대비하기 위하여, 지형 회피가 고려된 비행경로 생성 알고리듬을 개발하였다. 비행경로 생성 알고리듬에서는 먼저 등고선의 그룹화를 통해 경로점을 생성하고, Dijkstra 알고리듬을 이용하여 적절한 경로점 조합을 구성한다. 구성된 경로점 조합에 대해서는 최적제어 이론을 기반으로 한 최적 경로점 유도법칙을 적용하여, 제어에너지를 최소로 하는 최적의 비행경로를 제시한다.