• Journal of the Korean Society for Precision Engineering
• /
• v.16 no.4 s.97
• /
• pp.189-196
• /
• 1999

환경지도를 갖고 있는 이동로봇은 정확한 경로계획에 의하여 주행하게 된다. 그러나 주행 중 예상하지 못한 장애물을 만나는 경우 새로운 경로정보가 요구된다. 본 논문에서는 부분적인 환경정보를 갖고 있는 이동로봇의 경로계획기법을 제시한다. 경로계획은 전체경로계획과 지역경로계획으로 구분되면 전체환경을 노드와 아크로 표시한 네트워크 모델을 이용하여 수행된다. 경로계획시간과 메모리 부담을 개선하기 위하여 네트워크 분할기법을 이용한 경로계획기법을 제안하였으며 지역경로계획에서는 정보가 변경된 부 네트워크에 대하여 경로계획을 수행하여 계산시간을 적게 소요하며 새로운 경로를 계산한다. 제안한 기법을 자동화 공장에서 주행하는 이동로봇에 적용하였으며 시뮬레이션과 실험을 통하여 제안한 기법의 성능을 보였다.

• The Journal of the Korea institute of electronic communication sciences
• /
• v.9 no.8
• /
• pp.907-914
• /
• 2014

A heuristic search algorithm is proposed to plan a collision free path for robots in an indoor environment. The proposed algorithm is to find a collision free path in the gridded configuration space by proposed heuristic graph search algorithm. The proposed algorithm largely consists of two parts : tunnel searching and path searching in the tunnel. The tunnel searching algorithm finds a thicker path from start grid to goal grid in grid configuration space. The tunnel is constructed with large grid defined as a connected several minimum size grids in grid-based configuration space. The path searching algorithm then searches a path in the tunnel with minimum grids. The computational time of the proposed algorithm is less than the other graph search algorithm and we analysis the time complexity. To show the validity of the proposed algorithm, some numerical examples are illustrated for robot.

• The Journal of Korean Institute of Communications and Information Sciences
• /
• v.31 no.10C
• /
• pp.921-926
• /
• 2006

The Presence of a line-of-sight(LoS) blockage can degrade the UWB positioning accuracy for two reasons. Firstly, it makes estimation of the time of arrival(ToA) of the direct path signal difficult by complicating the multipath structure of the propagation channel. Secondly, the higher dielectric constant of the LoS blocking material than that of free space introduces excess propagation delay which will bias the range estimation. In this paper, methods based on ray tracing to reduce the ranging error resulting from the second reason are Posed. We take two different approaches; a statistical approach and a map-aided method. In the statistical approach, we establish a conditional distribution of the excess propagation delay caused by LoS blockages using a ray tracing technique. The lo6wer bound of the ranging performance based on this model is estimated. Ine ray tracing method is also used for the map-aided ToA positioning approach. UWB propagation measurement data taken in an office environment is used to examine the performance of this method.

• Journal of Korea Multimedia Society
• /
• v.8 no.3
• /
• pp.362-371
• /
• 2005

This paper presents a digital video broadcasting - terrestrial (DVB-T) receiver system based on the orthogonal frequency division multiplexing (OFDM) modulation method, which has exhibited a good reception performance even with obstacles and a mobile reception. As such, an improved OFDM receiver is developed for a DVB-T system that also considers function expansion for further development. After manufacturing the DVB-T receiver system, the performance of the proposed system is compared with three other hardware systems, all of which are end products. The experimental results confirm the performance using the measured minimum required carrier-to-noise ratio and threshold of visibility signal for each system. In addition, a graphic user interface (GUI) and electronic program guide (EPG) are developed for the digital television user.

• Journal of IKEEE
• /
• v.24 no.1
• /
• pp.147-153
• /
• 2020

Conventional lane detection algorithms have problems in that the detection rate is lowered in road environments having a large change in curvature and illumination. The probabilistic Hough transform method has low lane detection rate since it exploits edges and restrictive angles. On the other hand, the method using a sliding window can detect a curved lane as the lane is detected by dividing the image into windows. However, the detection rate of this method is affected by road slopes because it uses affine transformation. In order to detect lanes robustly and avoid obstacles, we propose driving assist system using semantic segmentation based on deep learning. The architecture for segmentation is SegNet based on VGG-16. The semantic image segmentation feature can be used to calculate safety space and predict collisions so that we control a vehicle using adaptive-MPC to avoid objects and keep lanes. Simulation results with CARLA show that the proposed algorithm detects lanes robustly and avoids unknown obstacles in front of vehicle.

• Journal of the Institute of Electronics Engineers of Korea SP
• /
• v.46 no.3
• /
• pp.143-151
• /
• 2009

In this paper, a new extraction algorithm for artificial structure in 3D cloud points of terrestrial LIDAR is described, considering that various obstacles in terrestrial LIDAR make it difficult to apply conventional algorithms which are designed for air-born LIDAR data. Firstly we use the R, G, B color information from the terrestrial LIDAR data to discriminate among the massive 3D cloud points. Hough transform is then applied to estimate the straight lines that correspond to the target structure. Finally, the structure is extracted by comparing the distance between the estimated line and 3D cloud points. The proposed algorithm is efficient in the sense that it requires the user interaction only when the reference colors are obtained. Computer simulation shows the performance to be quite satisfactory.

• Spatial Information Research
• /
• v.17 no.1
• /
• pp.103-115
• /
• 2009

Recently, the seabed facility is gradually being increased based on the development of harbor and the coastal area. However, the comparison between the survey data with the chart still shows the significant differences leading to various disasters over sea accident. Therefore, in this study, the investigation on the seabed facility were performed in 5 areas through an accuracy analysis using an up-to-date surveying equipment(MBES, SSS and SBP). Based on the study more systematic management on the seabed facility, more accurate method on the surveying, and some considerations on the related policies are suggested. Through the study, we obtained more accurate measurement on depth and seabed piping forms in Jakdo and Pyong-tack, on sunken ship in a Mok-po, on seabed crater in Je-ju. In addition, it was possible to present the method for the construction of information infra and a connection with the seabed facility. The criteria on the equipment's specification, surveying method and procedures are set by the experiments and the investigation and surveying accuracy on the seabed facilities are also suggested.

• Journal of the Korea Institute of Information and Communication Engineering
• /
• v.9 no.6
• /
• pp.1395-1401
• /
• 2005

Mobile manipulator is a robot that has mobility and manipulability with the combination of the task robot and mobile robot. One of the most important feature of the Mobile Manipulator is redundant freedom. Using the redundant freedom, Mobile Manipulator can move various mode, perform dexterous motion. It can have the wider workspace and better performance in avoidance of singularity and obstacle than the fixed base structured robot. Cooperation control using the Mobile Manipulator improves the performance of the robot with redundant freedom in workspace. In this paper, configuration control of the Mobile Manipulator has been studied using Task Segment and TOMM(Task-Oriented Manipulability Measure). For verifying the proposed algorithm, we implemented a mobile manipulator, PURL-II, which is composed of a mobile robot with 3DOF and a task robot with SDOF.

• Journal of the Korea Society of Computer and Information
• /
• v.16 no.6
• /
• pp.179-186
• /
• 2011

This paper suggests the minimum number of vertex guards algorithm. Given n rooms, the exact number of minimum vertex guards is proposed. However, only approximation algorithms are presented about the maximum number of vertex guards for polygon and orthogonal polygon without or with holes. Fisk suggests the maximum number of vertex guards for polygon with n vertices as follows. Firstly, you can triangulate with n-2 triangles. Secondly, 3-chromatic vertex coloring of every triangulation of a polygon. Thirdly, place guards at the vertices which have the minority color. This paper presents the minimum number of vertex guards using dominating set. Firstly, you can obtain the visibility graph which is connected all edges if two vertices can be visible each other. Secondly, you can obtain dominating set from visibility graph or visibility matrix. This algorithm applies various art galley problems. As a results, the proposed algorithm is simple and can be obtain the minimum number of vertex guards.

• Journal of KIISE
• /
• v.44 no.9
• /
• pp.932-945
• /
• 2017

In this paper, a new hardware and software architecture for a stereo vision processing system including rectification, disparity estimation, and visualization was developed. The developed method, named LArge scale stereo matching method using Support Point Interpolation (LASPI), shows excellence in real-time processing for obtaining dense disparity maps from high quality image regions that contain high density support points. In the real-time processing of high definition (HD) images, LASPI does not degrade the quality level of disparity maps compared to existing stereo-matching methods such as Efficient LArge-scale Stereo matching (ELAS). LASPI has been designed to meet a high frame-rate, accurate distance resolution performance, and a low resource usage even in a limited resource environment. These characteristics enable LASPI to be deployed to safety-critical applications such as an obstacle recognition system and distance detection system for autonomous vehicles. A Field Programmable Gate Array (FPGA) for the LASPI algorithm has been implemented in order to support parallel processing and 4-stage pipelining. From various experiments, it was verified that the developed FPGA system (Xilinx Virtex-7 FPGA, 148.5MHz Clock) is capable of processing 30 HD ($1280{\times}720pixels$) frames per second in real-time while it generates disparity maps that are applicable to real vehicles.