• 한국지구물리탐사학회:학술대회논문집
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• 2010.10a
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• pp.155-156
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• 2010

포텐셜 자료의 해석을 위해서는 상하향 연속을 이용하는 경우가 많다. 빠른 계산과 다양한 적용성 때문에 FFT(Fast Fourier Transform)을 이용한 상하향 연속을 주로 사용하는데, FFT를 적용하기 위해서는 격자망 형태로 얻어진 자료가 필요하다. 현장 중자력 자료는 보통 산발적(scattered)으로 얻어지기 때문에 FFT를 수행하기 위하여 격자망 자료로 변환하는 격자화(gridding) 과정에서 계산적인 오차가 발생한다. 반면 등가샘(equivalent source) 방법은 주어진 자료에 맞는 가상의 샘(source)들의 조합을 생성하고, 구해진 샘들의 조합으로부터 임의의 영역에서 필드값을 구하므로 격자화 과정이 필요없다. 이 연구의 목적은 등가샘 방법의 필요성을 보이고 여러 가지 등가샘 알고리즘을 비교분석하고 현장 자료에 사용하기 적합한 등가샘 방법들을 보여주는데 있다. 그림 1에서 보듯이 FFT를 사용한 상향 연속은 FFT 이론상 전 영역에 대한 적분이 필요하나 현장에서는 일부분의 자료만을 획득할 수 있으므로 상향 연속에서 정확한 자력값으로 연속을 수행하는 것은 불가능하다. 그러나 주어진 값들로 등가샘을 구성하여 상향 연속을수행한 결과는 상대적으로 보다 정확한 해에 도달한다. 또한 등가샘 방법을 이용한 연속의 장점은 그림 2와 같이 얻어진 자료의 높이가 서로 다른 자료를 주어진 높이로 연속을수행할 수 있다는 점이다. 또한 한번 등가샘들을 구성하면 이를 이용하여 격자화, 필터링 등을 해석을 위한 기초 자료처리에 적용할 수 있다.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.49 no.12
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• pp.981-988
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• 2021

This paper presents a decentralized guidance algorithm for swarm flight of fixed-wing UAVs (Unmanned Aerial Vehicles). Considering swarm flight missions, we assume four representative swarm tasks: gathering, loitering, waypoint/path following, and individual task. Those tasks require several distinct maneuvers such as path following, flocking, and collision avoidance. In order to deal with the required maneuvers, this paper proposes an integrated guidance algorithm based on vector field, augmented Cucker-Smale model, and potential field methods. Integrated guidance command is synthesized with heuristic weights designed for each guidance method. The proposed algorithm is verified through flight tests using up to 19 small fixed-wing UAVs.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.35 no.10
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• pp.918-926
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• 2007

Military aircrafts usually operate at the area with lots of threats such as radars and surface-to-air missiles. Aircraft also faces with the unexpected or pop-up threats. Under this environment, a safe flight path should be generated to lead a mission successful. In this paper, a new path planning algorithm is proposed to provide less dangerous flight path efficiently. Of many path planning algorithms, a potential method is considered, because it has advantages of computation efficiency and smooth path generation. Trajectory generation under the condition of maximum range is studied so that the aircraft may reach the target area without refueling. The algorithm to cope with an unexpected situation is also proposed by adopting the concept of initial direction vector, additional force, and a new mapping function. The performance of the proposed algorithms is demonstrated for SEAD (Suppression of Enemy Air Defences) mission by numerical simulation.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.61 no.2
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• pp.291-297
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• 2012

In this paper, potential field algorithm was used for path planning in dynamic environment. This algorithm is used to plan a robot path because of its elegant mathematical analysis and simplicity. However, there are some problems. The problems are problem of collision risk, problem of avoidance path, problem of time consumption. In order to solve these problems, we fused potential field with fuzzy system. The input of the fuzzy system is set using relative velocity and location of robot and obstacle. The output of the fuzzy system is set using the weighting factor of repulsive potential function. The potential field algorithm is improved by using fuzzy potential field algorithm and, path planning in various environment has been done.

• 한국HCI학회:학술대회논문집
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• 2009.02a
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• pp.390-395
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• 2009

In this paper, we present practical issues in a Mobile Haptic Interface (MHI) and their improvements. The improvements can be categorized in three parts: 1) high-accuracy estimation of the world position of the haptic interface point, 2) motion planning algorithm to move the mobile base while avoiding collisions with the user and other objects, and 3) closed-loop force control to compensate the undesired effect of mobile base dynamics on the final rendering force perceived by the user.

• Proceedings of the KIEE Conference
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• 2003.11b
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• pp.11-14
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• 2003

In this paper, we use Fuzzy Logic and Potential field method for optimal path planning of an autonomous mobile robot and apply to navigation for real-time mobile robot in 2D dynamic environment. For safe navigation of the robot, we use both Global and Local path planning. Global path planning is computed off-line using sell-decomposition and Dijkstra algorithm and Local path planning is computed on-line with sensor information using potential field method and Fuzzy Logic. We can get gravitation between two feature points and repulsive force between obstacle and robot through potential field. It is described as a summation of the result of repulsive force between obstacle and robot which is considered as an input through Fuzzy Logic and gravitation to a feature point. With this force, the robot fan get to desired target point safely and fast avoiding obstacles. We Implemented the proposed algorithm with Pioneer-DXE robot in this paper.

• Journal of KIISE:Computing Practices and Letters
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• v.16 no.6
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• pp.683-687
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• 2010

In this paper, we propose an anycast routing scheme for large-scale wireless mesh networks, which requires only one-hop local information with no flooding overhead. We develop an analytical model for anycast mesh networks based on an electrostatic theory. A finite difference method contributes to achieving gateway load balancing with constant control overheads. We verify the performance of the proposed scheme by simulations.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2002.10a
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• pp.554-557
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• 2002

This paper describes power potential field method for the collision-free path planning of stereo-vision based mobile robot. Area based stereo matching is performed for obstacle detection in uncertain environment. The repulsive potential is constructed by distributing source points discretely and evenly on the boundaries of obstacles and superposing the power potential which is defined so that the source potential will have more influence on the robot than the sink potential when the robot is near to source point. The mobile robot approaches the goal point by moving the robot directly in negative gradient direction of the main potential. We have investigated the possibility of power potential method for the collision-free path planning of mobile robot through various experiments.

• Proceedings of the Korea Information Processing Society Conference
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• 2016.04a
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• pp.139-141
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• 2016

본 논문에서는 실시간 실내 다중 이동 로봇 충돌 회피에 관한 연구이다. 충돌 회피 기법에는 센서를 이용한 포텐셜 필드 기법 등 다양한 방법[1,2,3]이 있지만 좁은 실내 공간에서 사용하기에는 제한점이 많다. 본 논문에서 제안하는 시스템은 서버, 감시카메라, 로봇 세 가지로 구성되어 있으며 여러 모듈간 상호작용을 통한 충돌 회피 시스템을 제안한다. 감시카메라는 서버에게 실시간으로 영상을 제공해 실내 상황을 파악하게 한다. 서버는 실내 공간에 있는 모든 로봇을 관리하고 감시카메라로부터 받은 영상을 이용한 맵 매칭을 통해 로봇의 위치를 파악한다. 그다음 로봇의 위치를 토대로 경로를 생성하여 로봇에게 전송한다. 로봇 또한 서버에게 경로, 속도를 전송 받아 목적지로 이동하며 서버로부터 지속적인 관리를 받아 충돌을 방지해 목적지까지 신속하고 정확하게 이동하는 것이 본 논문의 목적이다.

• Journal of the Korean Institute of Illuminating and Electrical Installation Engineers
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• v.24 no.10
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• pp.163-173
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• 2010

In multi-mobile robot environment, path planning and collision avoidance are important issue to perform a given task collaboratively and cooperatively. The proposed approach is based on a potential field method and fuzzy logic system. For a global path planner, potential field method is employed to select proper path of a corresponding robot and fuzzy logic system is utilized to avoid collisions with static or dynamic obstacles around the robot. This process is continued until the corresponding target of each robot is reached. To test this method, several simulation-based experimental results are given. The results show that the path planning and collision avoidance strategies are effective and useful for multi-mobile robot systems.