대한토목학회논문집 (KSCE Journal of Civil and Environmental Engineering Research)

  • 제41권2호
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  • Pages.161-172
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  • 2021
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  • 1015-6348(pISSN)
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  • 2799-9629(eISSN)
대한토목학회 (Korean Society of Civil Engeneers)
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지능형 장비관제 플랫폼을 위한 경로계획 모듈 개발

Development of the Path Planning Module for an Intelligent Equipment Control Platform

  • 김성근 (서울과학기술대학교 건설시스템공학과) ;
  • 이동준 (서울과학기술대학교 일반대학원 건설시스템공학과) ;
  • 이윤수 (서울과학기술대학교 일반대학원 건설시스템공학과) ;
  • 장정우 (서울과학기술대학교 일반대학원 건설시스템공학과)
  • Kim, Sung-Keun (Seoul National University of Science and Technology) ;
  • Lee, Dong-Jun (Seoul National University of Science and Technology) ;
  • Lee, Yun-Su (Seoul National University of Science and Technology) ;
  • Jang, Jung-Woo (Seoul National University of Science and Technology)
  • 투고 : 2020.11.03
  • 심사 : 2020.11.16
  • 발행 : 2021.04.01
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초록

4차 산업혁명 관련 기술의 대두와 더불어 각 산업에서는 첨단기술들을 적극 도입함으로써 생산성을 획기적으로 높이려는 노력을 기울이고 있다. 최근 국토부에서 스마트 건설기술개발사업 추진을 통하여 인프라 건설에 4차 산업혁명 관련 첨단기술을 적용하여 건설업의 생산성 및 안전성 관련 문제를 해결하고자 하고 있다. 본 연구는 스마트 건설기술개발사업의 일부 연구로 수행되었으며, 도로공사 수행시 투입되는 건설장비를 위하여 작업계획에 기반하여 자동으로 이동경로를 생성되도록 하는 기술을 개발하는 것을 목적으로 하고 있다. 생성된 이동경로는 건설장비 운전자에게 안전하게 효율적인 작업경로를 제시하고, MC 및 MG가 효율적으로 작동될 수 있도록 지원하는데 사용될 수 있다. 건설장비 이동경로는 Visibility Graph 기반으로 생성되도록 하였으며 실현장을 모델로 하여 어떻게 경로가 생성되는지 사례연구를 수행하였다.

Along with the emergence of technologies related to the 4th industrial revolution, all industry sectors are making efforts to dramatically increase productivity by actively introducing high-tech technologies. Recently, the MLIT (Ministry of Land, Infrastructure and Transport) is trying to solve problems related to low productivity and high accident rate in the construction industry by applying the 4th industrial revolution technologies to infrastructure construction through smart construction R&D projects. This research was performed as part of the smart construction R&D project supported by MLIT, and the purpose is to develop a module that automatically generates moving paths for construction equipment based on the earthwork plan for road construction. The generated moving path can be used to provide safe and efficient paths for construction equipment and to support MC and MG to work efficiently. The moving paths for construction equipment are created based on the Visibility Graph and a case study is performed to show how the paths are generated based on a given construction site.

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참고문헌

  1. Jang, J. W., Jeon, B. G., Kim, M. J. and Kim, S. K. (2020). "Equipment path planning for an intelligent equipment control platform." Journal of the Korea Institute of Construction Engineering and Management 2020 Conference, pp. 55 (in Korean).
  2. Kim, S. K. (2013). "3D-based earthwork planning and CO2 emission estimation for automated earthworks." Journal of the Korean Society of Civil Engineers, KSCE, Vol. 33, No. 3, pp. 1191-1202 (in Korean). https://doi.org/10.12652/Ksce.2013.33.3.1191
  3. Kim, S. K. and Lim, S. Y. (2017). "A study on the improvement of a fleet management system for construction equipment." Journal of the Korean Society of Civil Engineers, KSCE, Vol. 37, No. 6, pp. 1063-1076 (in Korean). https://doi.org/10.12652/Ksce.2017.37.6.1063
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  5. Lim, S. Y. and Kim, S. K. (2020). "Productivity analysis using a fleet management system for construction equipment." Journal of the Korean Society of Civil Engineers, KSCE, Vol. 40, No. 1, pp. 587-595 (in Korean).
  6. Patle, B. K., Ganesh, L., Pandey, A., Parhi, D. R. K. and Jagadeesh, A. (2019). "A review: On path planning strategies for navigation of mobile robot." Defence Technology, Vol. 15, No. 4, pp. 582-606. https://doi.org/10.1016/j.dt.2019.04.011
  7. Science and Technology Strategy Institute (STSI) (2019). Planning report for a development of smart construction technology, Ministry of Land, Infrastructure, and Transport, MLIT, Report#1615010364 (in Korean).
  8. Seo, J. W., Kwon, S. H., Lee, Y. S., Lee, I. W., Shin, H. S., Choi, S. J., Jung, W. Y., Kim, S. K. and Lee, S. R. (2020). Development of intelligent construction fleet management, MLIT Smart Construction R&D Proposal 20SMIP-B157089-01 (in Korean).