• 한국게임학회 논문지
• /
• 제1권1호
• /
• pp.42-48
• /
• 2001

Collision is a brief dynamic event consisting of the close approach of two or more objects or particles resulting in an abrupt change of momentum or exchange of energy because of interaction. Collisions play very important role in computer graphics, computer games and animations fields. Collisions can supply active interaction between cyberspace and real world and give much interests for making nice games so reasonable collision detection algorithms are needed. Collision detection algorithms should satisfy being fast and accuracy. In this paper, we survey the 2D collision detection algorithms between geometric models. We present several methods and system available for collision detection.

• 한국항해항만학회:학술대회논문집
• /
• 한국항해항만학회 2006년도 International Symposium on GPS/GNSS Vol.1
• /
• pp.83-88
• /
• 2006

Evaluation of collision risk plays a key role in developing the expert system of navigation and collision avoidance. This paper presents a new collision risk model formula that is one modification model on the basis of one approach to the evaluation of collision risk using sech function produced by Prof. Jeong in his relevant $articles^{[2][3][4][5]}$. And as a grope in collision risk evaluation field, this paper applied the new model in appraising the collision risk, suggested how to decide the safe range of own ship’'s action. Moreover this paper also analyzed theoretically how to determine the coefficients as describes in the new modification model formula, and suggested the appropriate values as applicable.

• 한국항해항만학회지
• /
• 제31권2호
• /
• pp.121-126
• /
• 2007

Evaluation of collision risk plays a key role in developing the expert system of navigation and collision avoidance. This paper presents a new collision risk model formula that is one modification model on the basis of one approach to the evaluation of collision risk using sech function produced in earlier studies. And as a tool of the evaluation field of ship collision, this paper applied the new model in appraising the collision risk and represented how to decide the safe range of own ship's action. Moreover this paper also analyzed theoretically how to determine the coefficients as described in the new modification model, and suggested the appropriate values as applicable.

• 한국컴퓨터정보학회논문지
• /
• 제11권3호
• /
• pp.187-192
• /
• 2006

PC환경에서 슈팅게임 시에 충돌이벤트에 대한 내용과 충돌감지 알고리즘에 대하여 소개하였고, 기존의 사각형 충돌감지 알고리즘 기법에서 단순한 사각형 충돌의 단점을 보완한, 작은 사각형 단위의 충돌 체크 기법을 제안하여 화면디자인과 함께 단순한 슈팅게임을 구현하였다. 실험과 실제 구현한 게임 화면 디자인을 통하여 제안한 알고리즘이 실제 게임에서 적용할 수 있음과 기존의 알고리즘보다 제안한 알고리즘이 우수함을 보였다.

• 한국기계가공학회지
• /
• 제20권12호
• /
• pp.78-84
• /
• 2021

Reducing the weight of automobiles is a significant global developmental task. Two materials are used to lighten automobiles: aluminum and CFRP frames. Aluminum is a non-ferrous metal, and CFRP is a composite material. They are lighter and harder than other materials. The two materials were used for the collision analysis. Subsequently, the two cases were compared. Three cases were considered for the collision analysis: head-on collision, partial head-on collision, and side collision at a speed of 60 km/h. The three cases were compared and analyzed considering the materials used to understand the difference between aluminum and CFRP and their collision characteristics.

• 로봇학회논문지
• /
• 제17권1호
• /
• pp.32-39
• /
• 2022

Since the mobile platform and the manipulator mounted on it move at the same time in a mobile manipulator, the risk of mutual collision increases. Most of the studies on collision avoidance of mobile manipulators cannot be applied to differential drive type mobile platforms or the end-effector tends to deviate from the desired trajectory for collision avoidance. In this study, a collision avoidance algorithm based on null space projection (CANS) that solves these two problems is proposed. To this end, a modified repulsive force that overcomes the non-holonomic constraints of a mobile platform is generated by adding a virtual repulsive force in the direction of its instantaneous velocity. And by converting this repulsive force into a repulsive velocity and applying it to the null space, the end-effector of the robot avoids a collision while moving along its original trajectory. The proposed CANS algorithm showed excellent performance through self-collision avoidance tests and door opening tests.

• 한국정밀공학회지
• /
• 제14권1호
• /
• pp.158-167
• /
• 1997

For the use of a mobile robot in dynamic environment, a collision-avoidance algorithm with moving obsta- cle is necessary. In this paper, a collsion-avoidance algorithm of a mobile robot is presented, when a mobile robot detects the collision with moving obstacle on the navigational path. Using reported positions of moving obstacle with sensors, the mobile robot predicts the next position of moving obstacle with possibility of collision. The velocity of moving obstacle is modeled as random walk process with Gaussian distribution. The optimal collision-avoidance path in which turning motion of the mobile robot is considered is generated with relative velocity between the mobile robot and moving obstacle. For the safety of collision-avoidance path, attractive potential with the safety factor is suggested. The simulation results using this algorithm show the mobile robot avoids collision with moving obstacle in many cases.

• 한국정보과학회논문지:정보통신
• /
• 제34권5호
• /
• pp.316-327
• /
• 2007

RFID는 RF신호를 이용하여 물체를 식별하는 가장 유망한 미래의 비접촉 기술이다. RFID 리더의 식별영역에 여러 개의 태그가 있는 경우, 리더의 질의에 대하여 모든 태그들이 동시에 응답을 하기 때문에 충돌이 발생되어 태그를 식별할 수 없게 된다. RFID에서 다중 태그 식별문제는 아주 중요한 핵심 기술로 이것을 해결하기 위해 슬롯기반 알로하 알고리즘, 트리 기반 알고리즘 등과 같은 충돌 방지 알고리즘이 제안되었다. 본 논문에서는 RFID 시스템에서 충돌 트리를 이용한 충돌트리 기반 충돌 방지알고리즘을 제안한다. 제안하는 방법은 효과적인 충돌 방지 메커니즘을 제공하며 메모리래스 알고리즘이다. 제안하는 충돌트리는 다중 태그 식별문제를 해결하기 위한 메커니즘으로 리더와 태그사이 질의와 응답과정에서 만들어진다. 리더가 k 비트로 구성된 프리픽스를 질의하면, 태그는 자신의 식별자와 프리픽스를 비교 하여 일치할 경우 식별자의 K+1 비트에서 마지막 비트까지 리더에게 전송한다. 시뮬레이션 결과에 따라 제안하는 충돌 트리 기반 충돌 방지 알고리즘이 기존의 트리 워킹 알고리즘이나 쿼리 트리 알고리즘보다 좋은 성능을 보임을 알 수 있다.

• 터널과지하공간
• /
• 제27권5호
• /
• pp.282-294
• /
• 2017

본 연구에서는 광산안전관리를 위한 충돌방지시스템의 개발 현황과 적용사례를 분석하였다. 광업 선진국인 미국과 호주에서 사용하는 충돌방지시스템의 용어를 정의하고 이용되는 센서 기술들을 비교하였다. 또한 해외의 광산 회사들이 개발한 충돌방지시스템인 $MineAlert^{TM}$ Collision Awareness System, Cat $MineStar^{TM}$, Intelligent Proximity Detection 기술 등에 대해 소개하였다. 국내 광업 분야에서는 충돌방지시스템을 개발한 사례가 없었으며 건설과 철도 분야에서 이와 유사한 개념의 시스템을 확인할 수 있었다. 충돌방지시스템을 도입하면 광산에서 발생할 수 있는 충돌사고를 방지하여 작업자의 안전을 개선시킬 수 있을 것이며, 해외의 개발 사례를 통해 국내 광산 환경에 적합한 센서 기술을 개발하고 적용하는 연구가 필요할 것으로 판단된다.

• 해양환경안전학회지
• /
• 제25권3호
• /
• pp.259-268
• /
• 2019

Even if only two ships are encountered, a collision may occur due to the mistaken judgment of the positional relationship. In other words, if an officer does not know a target ship's intention, there is always a risk of collision. In this paper, the experiments are conducted to investigate how the intention affects the action of collision avoidance in cooperative and non-cooperative situations. In non-cooperative situation, each ship chooses a course that minimizes costs based on the current situation. That is, it always performs a selfish selection. In a cooperative situation, the information is exchanged with a target ship and a course is selected based on this information. Each ship uses the Distributed Stochastic Search Algorithm so that a next-intended course can be selected by a certain probability and determines the course. In the experimental method, four virtual ships are set up to analyze the action of collision avoidance. Then, using the actual AIS data of eight ships in the strait of Dover, I compared and analyzed the action of collision avoidance in cooperative and non-cooperative situations. As a result of the experiment, the ships showed smooth trajectories in the cooperative situation, but the ship in the non-cooperative situation made frequent big changes to avoid a collision. In the case of the experiment using four ships, there was no collision in the cooperative situation regardless of the size of the safety domain, but a collision occurred between the ships when the size of the safety domain increased in cases of non-cooperation. In the case of experiments using eight ships, it was found that there are optimal parameters for collision avoidance. Also, it was possible to grasp the variation of the sailing distance and the costs according to the combination of the parameters, and it was confirmed that the setting of the parameters can have a great influence on collision avoidance among ships.