• Journal of the Korea Computer Graphics Society
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• v.27 no.5
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• pp.63-71
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• 2021

Among drone autonomous flight technologies, obstacle avoidance is a very important technology that can prevent damage to drones or surrounding environments and prevent danger. Although the LiDAR sensor-based obstacle avoidance method shows relatively high accuracy and is widely used in recent studies, it has disadvantages of high unit price and limited processing capacity for visual information. Therefore, this paper proposes an obstacle avoidance algorithm for drones using camera-based PPO(Proximal Policy Optimization) reinforcement learning, which is relatively inexpensive and highly scalable using visual information. Drone, obstacles, target points, etc. are randomly located in a learning environment in the three-dimensional space, stereo images are obtained using a Unity camera, and then YOLov4Tiny object detection is performed. Next, the distance between the drone and the detected object is measured through triangulation of the stereo camera. Based on this distance, the presence or absence of obstacles is determined. Penalties are set if they are obstacles and rewards are given if they are target points. The experimennt of this method shows that a camera-based obstacle avoidance algorithm can be a sufficiently similar level of accuracy and average target point arrival time compared to a LiDAR-based obstacle avoidance algorithm, so it is highly likely to be used.

• The Transactions of the Korea Information Processing Society
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• v.2 no.3
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• pp.343-353
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• 1995

The path navigation of autonomous guided vehicle(AGV) or autonomous mobile robot(AMR) assumed that the environment was completely known and the obstacles were fixed. So that, in an environment only partly known or not known at all, the previous works were not successful since the path exploration techniques involved in the work were neither directly applicable nor extensible. In order to improve such problems, this paper was adopted the quadtree technique and proposed the algorithm for an optimal path planning autonomously in an environment and proved a validity through a simulation.

• The Journal of Korea Institute of Information, Electronics, and Communication Technology
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• v.13 no.5
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• pp.377-388
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• 2020

In this paper, the autonomous mobile robot whit only LRF sensors proposes an algorithm for avoiding moving obstacles in an environment where a global map containing fixed obstacles. First of all, in oder to avoid moving obstacles, moving obstacles are extracted using LRF distance sensor data and a global map. An ellipse-shaped safety radius is created using the sum of relative vector components between the extracted moving obstacles and of the autonomuos mobile robot. Considering the created safety radius, the autonomous mobile robot can avoid moving obstacles and reach the destination. To verify the proposed algorithm, use quantitative analysis methods to compare and analyze with existing algorithms. The analysis method compares the length and run time of the proposed algorithm with the length of the path of the existing algorithm based on the absence of a moving obstacle. The proposed algorithm can be avoided by taking into account the relative speed and direction of the moving obstacle, so both the route and the driving time show higher performance than the existing algorithm.

• Journal of the Korean Institute of Intelligent Systems
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• v.14 no.4
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• pp.396-401
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• 2004

Recently a framework for the cognition-based navigational planning of a mobile robot on dynamic environment has been proposed, and simulation results applied it to the static environment been presented [1]. In this paper, we propose a linguistic map-based framework for the navigational planning of mobile robots, which is applicable to the dynamic environment including not only static obstacles but also dynamic obstacles such as temporal-spatio obstacles, by extending Lee et al. 's framework, and provide computer simulation results obtained by applying to a mobile robot on the dynamic environment in order to show the validity of the proposed algorithm.

• Journal of Korean Society of Transportation
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• v.23 no.3 s.81
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• pp.21-34
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• 2005

To control the obstacles surrounding aerodrome is significant for preventing air accident and ensuring the long sustaining of aerodromes. On the other hand, within a scope of ensuring safe flight operations, the application of Shielding is one of the issues to be importantly considered to manage efficiently the obstacles limitation around aerodromes, to dissolute the private asset privilege limitation from regulation on aerodrome circumference, and to decrease the pains to manage the obstacles, in terms of not only operating safely but also utilizing efficiently the airspace around aerodromes. The ICAO and other aviation-advanced states mitigate the construction limitation or exempt the obligation of obstacle sign by applying the shielding theory that the obstacles are not regarded as obstacles where are below the shadow surface. The Republic of Korea inserted the new regulation including the applying shielding similar to ICAO on Aviation Act and regulations. It is, however, hard to manage the aviation obstacles around aerodrome efficiently with these new regulation. Particularly, there exists much rooms to dispute because it cannot suggest the specific standard which is necessary to apply shielding theory at airspace of aerodromes. Therefore, in this study, the international standards on aviation obstacles were reviewed, analyzed and compared with those of domestic status. The direction of which guideline for control of aeronautical obstacles applicable within domestic circumstances as well as correspondent with international standard was suggested. Particularly, as far as the disputable application of shielding theory is concerned, the alternatives for aviation safety and efficient airspace operation by suggesting the clear standards alternatives were suggested.

• Journal of the Korean Institute of Intelligent Systems
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• v.17 no.7
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• pp.901-906
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• 2007

Algorithms of path planning and obstacle avoidance are essential to autonomous mobile robots that are working in unknown environments in the real time. This paper presents a new navigation algorithm for an autonomous mobile robot with vision and IR sensors using fuzzy rules. Temporary targets are set up by distance variation method and then the algorithms of trajectory planning and obstacle avoidance are designed using fuzzy rules. In this approach, several digital image processing technique is employed to detect edge of obstacles and the distances between the mobile robot and the obstacles are measured. An autonomous mobile robot with single vision and IR sensors is built up for experiments. We also show that the autonomous mobile robot with the proposed algorithm is navigating very well in complex unknown environments.

• Journal of the Korea Society of Computer and Information
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• v.27 no.11
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• pp.81-87
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• 2022

In this paper, we propose diffraction-based sound control method to improve sound immersion in a virtual environment. The proposed technique can express the wave and flow of sound in a physical environment and a pattern similar to diffraction in real-time. Our approach determines whether there is an obstacle from the location of the sound source and then calculates the position of the new sound reflected and diffracted by the obstacle. Based on ray tracing, it determines whether or not it collides with an obstacle, and predicts the sound level of the agent behind the obstacle by using the vector reflected and refraction by the collision. In this process, the sound attenuation according to the distance/material is modeled by attenuating the size of the sound according to the number of reflected/refracted rays. As a result, the diffraction pattern expressed in the physics-based approach was expressed in real time, and it shows that the diffraction pattern also changes as the position of the obstacle is changed, thereby showing the result of naturally spreading the size of the sound. The proposed method restores the diffusion and diffraction characteristics of sound expressed in real life almost similarly.

• Journal of the Korean Institute of Intelligent Systems
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• v.21 no.1
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• pp.19-24
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• 2011

This paper presents a method about amorphous obstacles avoidance for local path planning in the two-dimensional sensor environment. In particular, the proposed method is extended from some of the recent studies about a point obstacle avoidance. In the paper, repulsive forces of two types are proposed in order that the robot avoids from the amorphous obstacle with various size and form. A judgment of curvatures in the proposed method simplifies the recognition of obstacles to make the path-planning efficient. In addition, the line of sight(LOS) and the range of recognition are considered in the environment. By simulation results, the proposed method for amorphous obstacle avoidance shows better performance than the related existing method and we confirmed advantages of proposed method.

• Journal of the Korea Society of Computer and Information
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• v.27 no.7
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• pp.49-55
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• 2022

In this paper, we propose an obstacle detection method that can operate robustly even in external environmental factors such as weather. In particular, we propose an obstacle detection system that can accurately inform dangerous situations in AR through DB-based feature matching and RANSAC-based multiplane method. Since the approach to detecting obstacles based on images obtained by RGB cameras relies on images, the feature detection according to lighting is inaccurate, and it becomes difficult to detect obstacles because they are affected by lighting, natural light, or weather. In addition, it causes a large error in detecting obstacles on a number of planes generated due to complex terrain. To alleviate this problem, this paper efficiently and accurately detects obstacles regardless of lighting through DB-based feature matching. In addition, a criterion for classifying feature points is newly calculated by normalizing multiple planes to a single plane through RANSAC. As a result, the proposed method can efficiently detect obstacles regardless of lighting, natural light, and weather, and it is expected that it can be used to secure user safety because it can reliably detect surfaces in high and low or other terrains. In the proposed method, most of the experimental results on mobile devices reliably recognized indoor/outdoor obstacles.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.19 no.12
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• pp.313-320
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• 2018

The purposes of this study were to verify the status of Barrier Free Design Certification in the center for the elderly. To achieve these purposes, the architectural characteristics of the center for elderly and the status of Barrier Free Design Certification was analyzed. The results of this study were as follows. (1) The functional composition of centers for the elderly are similar regardless of the location, but the area and shape of the plot are very different according to the location. (2) According to an analysis on the status of Barrier Free Design Certification in centers for elderly, the sanitation and intermediate facilities are necessarily considerable adjustment. (3) For the accessability and conveniences of Barrier Free Design Certification in a small building, such as centers for the elderly, they are necessary to simplify the self-assessment documents, minimize the period for judging, and reducing the fees for certification.