• 한국산업융합학회 논문집
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• 제18권4호
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• pp.191-196
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• 2015

In this paper, we present a path-smoothing algorithm for a robot arm manipulator that finds the path using a joint space-based rapidly-exploring random tree. Unlike other smoothing algorithms which require complex mathematical computation, the proposed path-smoothing algorithm is done using a Gaussian process. To find the optimal hyperparameters of the Gaussian process, we use differential evolution hybridized with opposition-based learning. The simulation result indicates that the Gaussian process whose hyperparameters were optimized by hybrid differential evolution successfully smoothed the path generated by the joint space-based rapidly-exploring random tree.

• 제어로봇시스템학회논문지
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• 제22권3호
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• pp.217-225
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• 2016

In this paper, we propose an improved path planning method and obstacle avoidance algorithm for two-wheel mobile robots, which can be effectively applied in an environment where obstacles can be represented by circles. Firstly, we briefly introduce the rapidly exploring random tree (RRT) and single polar polynomial (SPP) algorithm. Secondly, we present additional two methods for applying our proposed method. Thirdly, we propose a global path planning, smoothing and obstacle avoidance method that combines the RRT and SPP algorithms. Finally, we present a simulation using our proposed method and check the feasibility. This shows that proposed method is better than existing methods in terms of the optimality of the trajectory and the satisfaction of the kinematic constraints.

• 한국군사과학기술학회지
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• 제13권2호
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• pp.171-179
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• 2010

A fundamental technology of UGV(Unmanned Ground Vehicle) to perform a given mission with success in various environment is a path planning method which generates a safe and optimal path to the goal. In this paper, we suggest a local path-planning method of UGV based on the binary map using world model data which is gathered from terrain perception sensors. In specially, we present three core algorithms such as shortest path computation algorithm, path optimization algorithm and path smoothing algorithm those are used in the each composition module of LPP component. A simulation is conducted with M&S(Modeling & Simulation) system in order to verify the performance of each core algorithm and the performance of LPP component with scenarios.

• Journal of applied mathematics & informatics
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• 제22권1_2호
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• pp.133-148
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• 2006

This paper proposes a smoothing method for symmetric conic linear programming (SCLP). We first characterize the central path conditions for SCLP problems with the help of Chen-Harker-Kanzow-Smale smoothing function. A smoothing-type algorithm is constructed based on this characterization and the global convergence and locally quadratic convergence for the proposed algorithm are demonstrated.

• 한국광학회지
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• 제5권2호
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• pp.217-224
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• 1994

반점 간섭무늬 위상단면도의 잡음을 제거하기 위해 위상이동 convolution과 2-bit 양자화 스무딩 필터를 조합하였다. 위상이동 convoltion처리로 톱니파 형태를 갖는 반점 간섭무늬 위상단면도에서 2.pi. jump 양단의 edge 성분을 완벽하게 유지하면서 스무딩 처리를 할 수 있었다. 2-bit 양자화 스무딩 필터는 반점 간섭무늬 위상단면도의 스무딩 처리를 하는데 있어서 average, low-pass 필터 및 median 필터 보다 처리속도가 빠르고 S/N비 특성이 우수하였다. 잡음을 제거한 반점 위상단면도를 path dependent unwrapping 알고리즘을 적용하여 위상의 2.pi. 불연속성을 해소하고 펼쳐 보았다.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2000년도 제15차 학술회의논문집
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• pp.418-418
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• 2000

This paper proposes a path planning algorithm for mobile robot. To generate an optimal path and minimum time path for a mobile robot, we use the Genetic Algorithm(GA) and Visibility Graph. After finding a minimum-distance between start and goal point, the path is revised to find the minimum time path by path-smoothing algorithm. Simulation results show that the proposed algorithms are more effective.

• 한국군사과학기술학회지
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• 제19권2호
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• pp.252-260
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• 2016

Unlike terrestrial transportation, marine transportation should consider environment factors in order to optimize path planning. This is because, ship's path planning is greatly influenced by real-time ocean environment-sea currents, wave and wind. Therefore, in this study, we suggest a ship path planning algorithm based on real-time ocean environment using not only $A^*$ algorithm but also path smoothing method. Moreover, in order to improve objective function value, we also consider ship's moving distance based on ship's location and real-time ocean environment data on grid map. The efficiency of the suggested algorithm is proved by comparing with $A^*$ algorithm only. This algorithm can be used as a reasonable automatics control system algorithm for unmaned ship.

• 한국정보과학회:학술대회논문집
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• 한국정보과학회 2003년도 가을 학술발표논문집 Vol.30 No.2 (1)
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• pp.64-66
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• 2003

DNA(Deoxyribo Nucleic Acid)컴퓨팅은 생체분자를 계산의 도구로 이용하는 새로운 계산 방법으로 DNA 정보 저장능력과 DNA의 상보적인 관계를 이용하여 연산을 수행하는 방법이다. 최근에는 DNA 분자들이 갖는 강력한 병렬성을 이용하여 NP-Complete 문제에 적용하는 연구가 많이 시도되고 있다. Adleman이 DNA 컴퓨팅을 이용해 해결한 HPP(Hamilton Path Problem)와는 달리 TSP(Traveling Salesman Problem)는 간선에 가중치가 추가되었기 때문에 DNA 염기배열로 표현하기가 어렵고 또한 염기배열의 길이를 줄이기 위해 고정길이 염기배열을 사용할 경우 가중치가 커지면 효율적이지 못하다. 본 논문에서는 스무딩 알고리즘(smoothing algorithm)을 사용하여 간선의 가중치를 일정한 비율로 줄인 다음 유전자 알고리즘을 사용하여 최적의 염기배열을 찾는 방법을 제안하였다.

• 산업경영시스템학회지
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• 제34권3호
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• pp.24-34
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• 2011

An Unmanned Aerial Vehicle (UAV) is a powered pilotless aircraft, which is controlled remotely or autonomously. UAVs are an attractive alternative for many scientific and military organizations. UAVs can perform operations that are considered to be risky or uninhabitable for human. UA V s are currently employed in many military missions such as reconnaissance, surveillance, enemy radar jamming, decoying, suppression of enemy air defense (SEAD), fixed and moving target attack, and air-to-air combat. UAVs also are employed in a number of civilian applications such as monitoring ozone depletion, inclement weather, traffic congestion, and taking images of dangerous territory. For accomplishing the UAV's missions, guarantee of survivability should be preceded. The main objective of this study is to suggest a mathematical programming model and a $A^*PS$-PGA (A-star with Post Smoothing-Parallel Genetic Algorithm) for an UAV's path planning to maximize survivability. A mathematical programming model is composed by using MRPP (Most Reliable Path Problem) and TSP (Traveling Salesman Problem). A path planning algorithm for UAV is applied by transforming MRPP into SPP (Shortest Path Problem).

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1988년도 한국자동제어학술회의논문집(국내학술편); 한국전력공사연수원, 서울; 21-22 Oct. 1988
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• pp.273-278
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• 1988

This paper represents the computer application techniques of initial and modification machining for dies with 3-dimensional scluptured surfaces. All procedures from die design to die machining and measurement are covered. The component of modelling is data management and modification (extrapolation and smoothing), surface modelling, and nc program preparation. Also this paper introduces the utility for successful and efficient operation of system such as map generation, data communication, tool path verification, contour map generation, graphic processing of extrapolation and smoothing results, and CAD/CAM system interface. Examples are given to illustrate the modelling.