• 제어로봇시스템학회논문지
• /
• 제12권7호
• /
• pp.693-699
• /
• 2006

An accurate and compact map is essential to an autonomous mobile robot system. For navigation, it is efficient to use an occupancy grid map because the environment is represented by probability distribution. But it is difficult to apply it to the large environment since it needs a large amount of memory proportional to the environment size. As an alternative, a topological map can be used to represent it in terms of the discrete nodes with edges connecting them. It is usually constructed by the Voronoi-like graphs, but in this paper the topological map is incrementally built based on the local grid map using the thinning algorithm. This algorithm can extract only meaningful topological information by using the C-obstacle concept in real-time and is robust to the environment change, because its underlying local grid map is constructed based on the Bayesian update formula. In this paper, the position probability is defined to evaluate the quantitative reliability of the end nodes of this thinning-based topological map (TTM). The global TTM can be constructed by merging each local TTM by matching the reliable end nodes determined by the position probability. It is shown that the proposed TTM can represent the environment accurately in real-time and it is readily extended to the global TTM.

• 한국정밀공학회:학술대회논문집
• /
• 한국정밀공학회 2003년도 춘계학술대회 논문집
• /
• pp.176-180
• /
• 2003

The paper presents an efficient method of extracting line segment in a local map of a robot's surroundings. The local map is composed of 2-D grids that have both the occupancy and orientation probabilities using sonar sensors. To find the shape of an object in a local map from orientation information, the orientations are clustered into several groups according to their values. The line segment is , then, extracted from the clusters based on Hough transform. The proposed technique is illustrated by experiments in an indoor environment.

• 로봇학회논문지
• /
• 제6권3호
• /
• pp.247-254
• /
• 2011

This paper presents a method of sonar grid map matching for topological place recognition. The proposed method provides an effective rotation invariant grid map matching method. A template grid map is firstly extracted for reliable grid map matching by filtering noisy data in local grid map. Using the template grid map, the rotation invariant grid map matching is performed by Ring Projection Transformation. The rotation invariant grid map matching selects candidate locations which are regarded as representative point for each node. Then, the topological place recognition is achieved by calculating matching probability based on the candidate location. The matching probability is acquired by using both rotation invariant grid map matching and the matching of distance and angle vectors. The proposed method can provide a successful matching even under rotation changes between grid maps. Moreover, the matching probability gives a reliable result for topological place recognition. The performance of the proposed method is verified by experimental results in a real home environment.

• 한국군사과학기술학회지
• /
• 제16권6호
• /
• pp.726-732
• /
• 2013

It is required for UGV(Unmanned Ground Vehicle) to have a LPP(Local Path Plan) component which generate a local path via the center of road by analyzing binary map to travel autonomously unpaved road in rough environment. In this paper, we present the method of boundary estimation for unpaved road and a local path planning method based on RANGER algorithm using the estimated boundary. In specially, the paper presents an approach to estimate road boundary and the selection method of candidate path to minimize the problem of zigzag driving based on Bayesian probability reasoning. Field test is conducted with scenarios in rough environment in which bush, tree and unpaved road are included and the performance of proposed method is validated.

• 한국군사과학기술학회지
• /
• 제20권6호
• /
• pp.803-812
• /
• 2017

This paper proposes a local path planning method for stable autonomous driving in rough terrain. There are various path planning techniques such as candidate paths, star algorithm, and Rapidly-exploring Random Tree algorithms. However, such existing path planning has limitations to reflecting the stability of unmanned ground vehicles. This paper suggest a path planning algorithm that considering the stability of unmanned ground vehicles. The algorithm is based on the genetic algorithm and assumes to have probability based obstacle map and elevation map. The simulation result show that the proposed algorithm can be used for real-time local path planning in rough terrain.

• Journal of Information Processing Systems
• /
• 제18권3호
• /
• pp.332-343
• /
• 2022

To address the problems of the gravitational search algorithm (GSA) in which the population is prone to converge prematurely and fall into the local solution when solving the single-objective optimization problem, a sine map jumping gravity search algorithm based on asynchronous learning is proposed. First, a learning mechanism is introduced into the GSA. The agents keep learning from the excellent agents of the population while they are evolving, thus maintaining the memory and sharing of evolution information, addressing the algorithm's shortcoming in evolution that particle information depends on the current position information only, improving the diversity of the population, and avoiding premature convergence. Second, the sine function is used to map the change of the particle velocity into the position probability to improve the convergence accuracy. Third, the Levy flight strategy is introduced to prevent particles from falling into the local optimization. Finally, the proposed algorithm and other intelligent algorithms are simulated on 18 benchmark functions. The simulation results show that the proposed algorithm achieved improved the better performance.

• 제어로봇시스템학회:학술대회논문집
• /
• 제어로봇시스템학회 2001년도 ICCAS
• /
• pp.101.1-101
• /
• 2001

This paper describes a grid mapping for a vision based mobile robot in uncertain indoor environment. The map building is a prerequisite for navigation of a mobile robot and the problem of feature correspondence across two images is well known to be of crucial Importance for vision-based mapping We use a stereo matching algorithm obtained by singular value decomposition of an appropriate correspondence strength matrix. This new correspondence strength means a correlation weight for some local measurements to quantify similarity between features. The visual range data from the reconstructed disparity image form an occupancy grid representation. The occupancy map is a grid-based map in which each cell has some value indicating the probability at that location ...

• 제어로봇시스템학회:학술대회논문집
• /
• 제어로봇시스템학회 2003년도 ICCAS
• /
• pp.174-179
• /
• 2003

Through the simultaneous localization and map building (SLAM) technique, a robot can create maps about its unknown environment while it continuously localizes its position. Grid maps and feature maps have been widely used for SLAM together with application of probability methods and POMDP (partially observed Markov decision process). But this approach based on grid maps suffers from enormous computational burden. Topological maps, however, have drawn more attention these days because they are compact, provide natural interfaces, and are easily applicable to path planning in comparison with grid maps. Some topological SLAM techniques like GVG (generalized Voronoi diagram) were introduced, but it enables the robot to decide only whether the current position is part of GVG branch or not in the GVG algorithm. In this paper, therefore, to overcome these problems, we present a method for updating a global topological map from the local topological maps. These local topological maps are created through a labeled Voronoi diagram algorithm from the local grid map built based on the sensor information at the current robot position. And the nodes of a local topological map can be utilized as the features of the environment because it is robust in light of visibility problem. The geometric information of the feature is applied to the extended Kalman filter and the SLAM in the indoor environment is accomplished. A series of simulations have been conducted using a two-wheeled mobile robot equipped with a laser scanner. It is shown that the proposed scheme can be applied relatively well.

• 한국산학기술학회논문지
• /
• 제12권11호
• /
• pp.5150-5155
• /
• 2011

인지증을 유발하는 원인은 알츠하이머병(Alzheimer's Disease: AD)과 혈관성 인지증(vascular Dementia: VD)이 가장 높은 비율을 차지한다. 본 논문에서는 측정된 라만 스펙트럼에서 AD, VD, 정상(NOR: normal)을 분류하기 위해 변별력 있는 영역을 조사하고, 특징 변환을 이용한 분류 실험 결과를 제시하였다. 혈소판으로부터 측정한 라만 스펙트럼은 먼저 smoothing을 적용한 다음 배경 잡음을 제거하고 스펙트럼의 기준 피크를 중심으로 그 위치를 정렬하였고 minmax 방법을 사용하여 정규화 하였다. 전처리를 거친 스펙트럼은 AD와 VD, NOR를 변별하기 가장 용이한 영역을 결정하기 위해 조사되었으며, 그 결과 725-777, 1504-1592, 1632-1700 $cm^{-1}$ 영역에서 스펙트럼이 많은 차이를 보임을 확인하였다. 분류 실험은 선택한 각 영역에 대하여 PCA(principal component analysis)와 NMF(nonnegative matrix factorization) 방법을 적용하여 얻은 특징을 이용하여 행하였다. 총 327개의 라만 스펙트럼에 대한 MAP(maximum a posteriori probability) 분류 실험 결과에 따르면, 본 연구에서 제안된 국부 영역 변환 특징을 사용했을 때 평균 92.8 %의 분류율을 보임을 알 수 있었다.

• 한국조경학회지
• /
• 제23권1호
• /
• pp.141-156
• /
• 1995

This research is executed to find out the boundary of use by the conscious of local residents and to get the basic materials for the distribution of outdoor leisure-facilities. The map of use distribution of the outdoor leisure-facilities in a neighbourhood unit is made by applying a concept of the probabilistic contour line based on the choice model of outdoer leisure-facilities in the city of Seoul, Taegu an\ulcorner Kwangju. The results are listed as follows. 1) The use of outdoor leisure-facilities is influenced on the accessibility by the physical obstacles of streets and hills, etc. 2) The limitation of uses applying the model of choice probability are different according to the accessibility, the percentage of utilities and the arriving range based on the questionnaires which are surveyed the choice of outdoor leisure facilities of the residents of Seoul, Taegu and Kwangju. 3) The distribution of outdoor leisure facilities is decided by the limitation of use with the conscious of local residents.