• 한국군사과학기술학회지
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• 제12권6호
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• pp.689-696
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• 2009

In this paper, a new user interface for unmanned combat vehicle(UCV) is developed based on the mission planning and global path planning. In order to complete a tactical mission given to an UCV, it is essential to design an effective interface scheme between human and UCV considering changing combat environment and characteristics of the mission. The user interface is mainly composed of two parts, mission planning and global path planning, since they are important factors to accomplish combat missions. First of all, mission types of UCV are identified. Based on mission types, the concept of mission planning for UCVs is presented. Then a new method for global path planning is devised. It is capable of dealing with multiple grid maps to consider various combat factors so that paths suitable for the mission be generated. By combining these two, a user interface method is suggested. It is partially implemented in the Dog-horse Robot of ADD and its effectiveness is verified.

• 대한전기학회:학술대회논문집
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• 대한전기학회 1998년도 하계학술대회 논문집 B
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• pp.715-718
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• 1998

There are a lot of paths which connect between the mobile robot and the goat point. To make a mobile robot arrive at the goal point fastly, The optimal path is needed and a path palnning is necessary. In this paper, we propose a new method of path planning to find a path for mobile robot. It is based on Ginetic Algorithm for serching the optimal grobal path planning. Simulations show the efficiency for the grobal path planning.

• 한국전자통신학회논문지
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• 제8권1호
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• pp.149-157
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• 2013

본 논문에서는 그리드 기반의 맵에서 자율이동로봇의 경로생성방법 및 가상 탄성력을 이용한 경로최적화 방법을 다룬다. 경로계획의 목적은 로봇이 주어진 환경에서 효율적으로 목표점을 향해 이동할 수 있도록 정보 생성하는 것이다. 그리드 기반의 경로계획기법으로 AStar 알고리즘이 대표적인 방법이며 본 논문에서는 AStar 알고리즘에 의해 작성된 경로를 가상 탄성력 알고리즘을 이용하여 경로를 최적화하는 알고리즘을 제안하고 있으며 그 결과를 비교한다. 가상 탄성력은 생성된 경로를 더 짧고 부드럽게 생성해주는 장점을 가지고 있으며 그리드 기반의 경로를 최적화 하는데 매우 유리하다.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1990년도 한국자동제어학술회의논문집(국내학술편); KOEX, Seoul; 26-27 Oct. 1990
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• pp.722-725
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• 1990

This paper proposes a new path planning method for obstacle avoidance of mobile robot. In order to achieve easy planning of the path, a simple representation of the empty space is achieved based on thinning algorithm. The proposed Planning technique facilitates the direct use of information obtained by camera. Comparing to the V-graph method, the task of determining the shortest path from the resulting skeleton of empty space is optimized in terms of number of computation steps. The usefulness of the proposed method is ascertained by simulation.

• 대한전기학회:학술대회논문집
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• 대한전기학회 1997년도 추계학술대회 논문집 학회본부
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• pp.576-580
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• 1997

This paper presents a path planning algorithm for biped walking robot in 3-D workspace. Since the biped walking robot can generate path on some 3-D obstacles that cannot generate path in case of mobile robot, we have to make a new path planning algorithms. A 3-D-to-2-D mapping algorithm is proposed and two kinds of path planning algorithms are also proposed. They make it easier to generate an efficient path for biped walking robot under given environment. Some simulation results are shown to prove the effectiveness of proposed algorithms.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2001년도 ICCAS
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• pp.120.3-120
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• 2001

We propose a new method of path planning for cleaning robots. Path planning problem for cleaning robots is different from conventional path planning problems in which finding a collision-free trajectory from a start point to a goal point is focused. In the case of cleaning robots, however, a planned path should cover all area to be cleaned. To resolve this problem in a systematic way, we propose a method based on a graph model as follows: at first, partition a given map into proper regions, then transform a divided region to a vertex and a connectivity between regions to an edge of a graph. Finally, a region is divided into sub-regions so that the graph has a unary tree which is the simplest Hamilton path. The effectiveness of the proposed method is shown by computer simulation results.

• Journal of Computational Design and Engineering
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• 제3권2호
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• pp.132-139
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• 2016

In this paper, a minimum time path planning strategy is proposed for multi points manufacturing problems in drilling/spot welding tasks. By optimizing the travelling schedule of the set points and the detailed transfer path between points, the minimum time manufacturing task is realized under fully utilizing the dynamic performance of robotic manipulator. According to the start-stop movement in drilling/spot welding task, the path planning problem can be converted into a traveling salesman problem (TSP) and a series of point to point minimum time transfer path planning problems. Cubic Hermite interpolation polynomial is used to parameterize the transfer path and then the path parameters are optimized to obtain minimum point to point transfer time. A new TSP with minimum time index is constructed by using point-point transfer time as the TSP parameter. The classical genetic algorithm (GA) is applied to obtain the optimal travelling schedule. Several minimum time drilling tasks of a 3-DOF robotic manipulator are used as examples to demonstrate the effectiveness of the proposed approach.

• 한국공작기계학회:학술대회논문집
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• 한국공작기계학회 2002년도 춘계학술대회 논문집
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• pp.184-189
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• 2002

Collision free task planning for dual-arm robot which perform many subtasks in a common work space can be achieved in two steps : path planning and trajectory planning. Path planning finds the order of tasks for each robot to minimize path lengths as well as to avoid collision with static obstacles. A trajectory planning strategy is to let each robot move along its path as fast as possible and delay one robot at its initial position or reduce speed at the middle of its path to avoid collision with the other robot.

• 한국공작기계학회:학술대회논문집
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• 한국공작기계학회 2001년도 춘계학술대회 논문집(한국공작기계학회)
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• pp.244-249
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• 2001

Collision free task planning for dual-arm robot which perform many subtasks in a common work space can be achieved in two steps : path planning and trajectory planning. Path planning finds the order of tasks for each robot to minimize path lengths as well as to avoid collision with static obstacles. A trajectory planning strategy is to let each robot move along its path as fast as possible and delay one robot at its initial position or reduce speed at the middle of its path to avoid collision with the other robot.

• 한국공작기계학회:학술대회논문집
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• 한국공작기계학회 2000년도 추계학술대회논문집 - 한국공작기계학회
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• pp.113-118
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• 2000

Collision free task planning for dual-arm robot which perform many subtasks in a common work space can be achieved in two steps : path planning and trajectory planning. Path planning finds the order of tasks for each robot to minimize path lengths as well as to avoid collision with static obstacles. A trajectory planning strategy is to let each robot move along its path as fast as possible and delay one robot at its initial position or reduce speed at the middle of its path to avoid collision with the other robot.