• 로봇학회논문지
• /
• 제13권2호
• /
• pp.121-128
• /
• 2018

Obstacle avoidance is one of the most important parts of autonomous mobile robot. In this study, we proposed safe and efficient local path planning of robot for obstacle avoidance. The proposed method detects and tracks obstacles using the 3D depth information of an RGB-D sensor for path prediction. Based on the tracked information of obstacles, the paths of the obstacles are predicted with probability circle-based spatial search (PCSS) method and Gaussian modeling is performed to reduce uncertainty and to create the cost function of caution. The possibility of collision with the robot is considered through the predicted path of the obstacles, and a local path is generated. This enables safe and efficient navigation of the robot. The results in various experiments show that the proposed method enables robots to navigate safely and effectively.

• KSII Transactions on Internet and Information Systems (TIIS)
• /
• 제11권4호
• /
• pp.1911-1930
• /
• 2017

Overlay routing has emerged as a promising approach to improve reliability and efficiency of the Internet. The key to overlay routing is the placement and maintenance of the overlay infrastructure, especially, the selection and placement of key relay nodes. Spurred by the observation that a few relay nodes with high betweenness centrality can provide more optimal routes for a large number of node pairs, we propose a resilient routing overlay network construction method by introducing Super-Relay nodes. In detail, we present the K-Minimum Spanning Tree with Super-Relay nodes algorithm (SR-KMST), in which we focus on the selection and connection of Super-Relay nodes to optimize the routing quality in a resilient and scalable manner. For the simultaneous path failures between the default physical path and the overlay backup path, we also address the selection of recovery path. The objective is to select a proper one-hop recovery path with minimum cost in path probing and measurement. Simulations based on a real ISP network and a synthetic Internet topology show that our approach can provide high-quality overlay routing service, while achieving good robustness.

• 한국정보통신학회:학술대회논문집
• /
• 한국정보통신학회 2022년도 추계학술대회
• /
• pp.264-266
• /
• 2022

전파 지문 기반의 실내 경로 생성 기술에 RNN 모델을 적용하기 위해서는 데이터 세트가 연속적이고 순차적이어야 한다. 그러나 Wi-Fi 전파 지문 데이터는 수집 시점의 특정 위치에 대한 특징 정보로서 연속성이 보장되지 않기 때문에 RNN 데이터로는 부적합하다. 따라서 순차적 위치의 연속성 정보를 부여해야한다. 이를 위해서는 신호 데이터를 기반으로 각 지역의 구분을 통해 클러스터링이 가능하다. 이때 클러스터 간의 연속성 정보에는 전파 신호의 한계로 이해 실제 이동이 가능한지의 정보를 담지 못한다. 따라서 인접 클러스터간의 이동이 가능한지에 대한 연관성 정보가 필요하다. 본 논문에서는 딥러닝 네트워크인 순환신경망(RNN) 모델을 사용해 이동 중인 객체의 경로 예측을 위한 기술로서 실내 환경에서 경로 생성을 위해 연속적인 위치 정보를 생성하여 객체의 경로 예측 시 발생할 수 있는 오류를 낮추고 예측 경로상의 이동이 불가능한 잘못된 경로 예측을 회피할 수 있는 향상된 이동 경로 생성을 위한 클러스터링 상호간의 연관성을 부여하는 기법을 제안한다.

• 정보처리학회논문지D
• /
• 제13D권1호
• /
• pp.87-96
• /
• 2006

본 논문은 프로젝트 환경과 특성을 고려하여, 소프트웨어 개발 경로를 커스터마이징 하는 방법을 설계한 것이다. 개발 경로 선정 기준은 ISO/IEC TR 15721 Information Technology Guide for ISO/IEC 12207(Software Life Cycle Processes), ISO/IEC 15504 Information technology - Process assessment의 프로세스 내용에 기반 한 10개의 영역 특성이다. 10개의 영역 특성은 프로젝트 환경과 특성을 반영한 것이며, 프로젝트 개발 경로 선정 항목들을 정의한다. 프로젝트 환경과 특성 항목인 10개 영역 특성 항목을 이용하여 소프트웨어 개발 프로세스를 선정하는 알고리즘을 제시한다. 본 논문에서 제안한 소프트웨어 개발 경로를 커스터마이징 하는 방법을 평가하기 위하여 소프트웨어 개발 경로를 커스터마이징 하는 방법을 반영한 개발 경로 선정 시스템을 가지고 웹 기반 시스템 개발 프로젝트를 적용한다. 그러나 입증된 수작업 프로젝트 경로 프로세스와 시스템에서 출력된 프로젝트 경로 프로세스가 차이가 난다 차이가 나는 주원인은 산출물이 서로 합쳐졌거나, 명칭이 바뀌었기 때문이다. 효과로는 소프트웨어 개발 프로젝트 환경과 특성에 적합한 경로 프로세스를 용이하게 선정한다.

• Journal of Communications and Networks
• /
• 제9권4호
• /
• pp.356-367
• /
• 2007

In large networks, maintaining precise global network state information is impossible. The imprecise network state information has significant impacts on Quality-of-Service(QoS) routing and path establishment. In this paper, we develop analytical models for investigating the QoS routing schemes that are designed to tolerate imprecise network state information, and study the performance of various QoS routing schemes, including randomized routing, multi-path routing, and probability based routing, using both the models and simulations. We further propose a new mechanism, called local rerouting, that improves the effectiveness of QoS path establishment in the presence of imprecise global network state information. Local rerouting is orthogonal to existing schemes for dealing with imprecise state information and can be used in conjunction with them to alleviate the impacts of the imprecise information. The results of our performance study indicate that local rerouting is robust and effective.

• 한국정보통신학회:학술대회논문집
• /
• 한국해양정보통신학회 2004년도 SMICS 2004 International Symposium on Maritime and Communication Sciences
• /
• pp.20-23
• /
• 2004

In non-selective frequency environment, it is difficult to take the advantage of path diversity. In the literature, some methods have been proposed to solve the issue. This paper presents a new method to obtain the resolvable path in Indoor Multi-carrier Code Division Multiple Access (MC-CDMA) system by using downlink beam forming. With the aid of downlink beamforming, the most reliable path is found and chosen for the communication link. The new approach is evaluated in term of bit error rate (BER) and power consumption. The simulation results show that the new approach can get better BER performance. However, the cost of BER improvement is a small degradation in power reservation.

• 한국정보통신학회논문지
• /
• 제19권3호
• /
• pp.587-595
• /
• 2015

무선 센서 네트워크에서 우회 경로는 경로 단절시 목적지에 데이터를 전달할 수 있는 대체 경로이다. 또한 이것은 에너지 낭비를 초래할 수 있는 요인이기도 하다. 이러한 문제점을 해결하기 위하여 멀티패스를 사용하는 방법이 제안되었다. 그러나, 이 방법은 센서노드의 무선 자원을 낭비할 수 있다. 최적의 패스는 에너지 소비를 감소시키기 때문에 네트워크의 수명이 길어지지만, 최적의 패스를 유지하기 위해 전체 노드들 간 주기적인 정보 교환이 이루어져야 한다. 본 논문은 분산된 3차원 센서네트워크에서 최적의 경로를 결정 알고리즘을 제안한다. 제안된 방법은 이웃 노드 간 정보 공유를 통하여 최적의 k-경로를 결정할 수 있을 뿐만 아니라 네트워크의 수명을 연장할 수 있다.

• 한국멀티미디어학회논문지
• /
• 제19권10호
• /
• pp.1767-1774
• /
• 2016

In this paper, we propose the adaptation filtering for correcting the movement path of the recognized object by the depth information. When we recognize the object by the depth information, the path error should be occurred because of the noises in the depth information. The path error is corrected by appling the lowpass filtering, but the lowpass filtering is not efficient when the changes of the object's movement are rapid. In this paper, we apply the adaptation filtering that it gives weights adaptively as the difference between the predicted location and the measured location. To apply the adaptation filtering, we can see that the proposed method can correct accurately the path error of the radical change from simulation results.

• 한국정보통신학회논문지
• /
• 제25권12호
• /
• pp.1960-1963
• /
• 2021

In this paper, we propose a multiplay Thompson sampling algorithm in multipath communication system. Multipath communication system has advantages on communication capacity, robustness, survivability, and so on. It is important to select appropriate network path according to the status of individual path. However, it is hard to obtain the information of path quality simultaneously. To solve this issue, we propose Thompson sampling which is popular in machine learning area. We find some issues when the algorithm is applied directly in the proposal system and suggested some modifications. Through simulation, we verified the proposed algorithm can utilize the entire network paths. In summary, our proposed algorithm can be applied as a path allocation in multipath-based communications system.

• 드라이브 ㆍ 컨트롤
• /
• 제18권2호
• /
• pp.20-31
• /
• 2021

An excavator is a construction machine that can perform various tasks such as trenching, piping, excavating, slope cutting, grading, and rock demolishing. In the 2010s, unmanned construction equipment using ICT technology was continuously developed. In this paper, the path design process was studied to implement the output data of the decision stage, and the path design algorithm was developed. For example, the output data of the decision stage were terrain data around the excavator, excavator mechanism information, excavator hydraulic information, the position and posture of the bucket at key points, the speed of the desired bucket path, and the required excavation volume. The result of the path design was the movement of the hydraulic cylinder, boom arm, bucket, and bucket edge. The core functions of the path design algorithm are the function of avoiding impact during the excavation process, the function to calculate the excavation depth that satisfies the required excavation volume, and the function that allows the bucket to pass through the main points of the excavation process while maintaining the speed of the desired path. In particular, in the process of developing the last function, the node tracking method expressed in the path design table was newly developed. The path design algorithm was verified as this path design satisfied the JCMAS H02 requirement.