• 드라이브 ㆍ 컨트롤
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• 제19권3호
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• pp.23-31
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• 2022

Traffic safety issues have recently been seriously magnified, due to child deaths in apartment complexes and parking lots. Accordingly, traffic safety technologies are being developed to recognize dangerous situations on living roads and to provide warning services. In this study, a collision detection algorithm was developed to prevent collision accidents between moving objects, by using object type and location information provided from CCTV monitoring devices. To determine the exact collision between moving objects, an object movement model was developed to predict the range of movement by considering the moving characteristics of the object, and a collision detection algorithm was developed to efficiently analyze the presence and location of the collision. The developed object movement model as well as the collision detection algorithm were simulated, in a virtual space of an actual living road to verify performance and derive supplementary matters.

• 한국항공우주학회지
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• 제36권10호
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• pp.996-1002
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• 2008

본 논문에서는 3차원 일대일 충돌 감지, 충돌 회피 및 경로점 유도를 위한 알고리듬에 대해 다룬다. 항공기는 질점 모델로 가정하였다. 충돌 감지는 최근접점까지 남은 시간과 그 때의 거리를 기준 값과 비교하여 수행하였다. 충돌 회피는 최적 제어 이론을 이용하여 최종 시간에서의 상대 거리를 최대화하는 가속도 입력을 계산하여 수행하였다. 경로점 유도는 잘 알려진 비례항법유도를 적용하였다. 제안된 알고리듬의 성능은 두 개의 시나리오를 통하여 검증하였다.

• 정보처리학회논문지B
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• 제10B권5호
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• pp.567-574
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• 2003

최근 하드웨어의 급속한 발전으로 3차원 그래픽의 적용 분야도 다양화 되어가고 있다. 3차원 가상도시를 배경으로 하는 3D MMORPG(Massive Multi-play Online Role Playing Game)와 같은 게임을 설계하기 위하여 필요한 세부 기술은 다양한 이론이 병합되어야 한다. 3D MMORPG 게임엔진은 거대한 3차원 도시의 수많은 빌딩과 개체론 실시간으로 빠르게 처리되어야 하기 때문에 렌드링의 처리뿐만 아니라 속도에 영향을 미치는 많은 요소를 가지고 있다. 이러한 게임엔진의 설계에서 중요하게 다루어지는 것은 처리 속도이다. 기존의 3D MMORPG에서 충돌검출의 방법으로 경계상자를 적용하지만 이 방법은 거대지형에서의 충돌 검출 시 속도가 느려지기 때문에 적용하기에는 바람직하지 않다. 따라서 본 논문은 거대지형상의 3D MMORPG 게임에서 발생되는 충돌검출 속도를 향상시키고자 한다. 즉 이러한 처리에서 본 논문은 다음과 같이 제시한다. 첫째 폴리곤의 충돌검사를 모두 하지 않고 빠른 시간에 충돌검출을 판단할 수 있다. 둘째 경계상자의 충돌검출에 대한 비용이 3차원 개체 개수에 대해 비례하여 증가하는 데에 대한 개선 방법을 제시한다. 그 처리 과정은 3D MMORPG 넓은 가상공간을 동적으로 처리하기 위해서는 제한적 OSP를 사용하여 공간분할을 한다. 분할된 3차원 공간을 계층적 경계상자를 이용함으로써 충돌검출에 필요한 개체를 검색하고 이론 통하여 충돌검출 속도를 개선시킬 수 있을 것이다.

• International Journal of Aeronautical and Space Sciences
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• 제9권2호
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• pp.1-8
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• 2008

This paper presents a real-time algorithm for collision detection, collision avoidance and guidance. Three-dimensional point-mass aircraft models are used. For collision detection, conflict probability is calculated by using the Monte-Carlo Simulation. Time at the closest point of approach(CPA) and distance at CPA are needed to determine the collision probability, being compared to certain threshold values. For collision avoidance, one of possible maneuver options is chosen to minimize the collision probability. For guidance to a designated way-point, proportional navigation guidance law is used. Two scenarios on encounter situation are studied to demonstrate the performance of proposed algorithm.

• 선박안전
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• 통권38호
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• pp.69-77
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• 2015

If we don't know the intention of altering course of a target ship when being in a head-on or a crossing situation, we may be confused about our decision making to change our course for collision avoidance and be in a danger of collision. In order to solve these problems, we need to develop an automatic detection system on altering course of a target ship for efficient collision avoidance. In this paper, we proposed an early detection system on altering course of a target ship using the steering wheel signal. This system will contribute to the reduction of collision accidents and also be used to the VTS system and the analysis of marine accidents.

• 전자공학회논문지A
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• 제30A권3호
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• pp.130-138
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• 1993

A mechanism for collision detection in general animation system is necessary to prevent the interpenetration among multiple objects. On the other hand, a dynamic simulation system which is a part of animation system simulates realistic motions using dynamics after the collision, which is called collision response. In this paper, a method for reducing the CPU time for collision detection by removing redundant calculations and object sorting is proposed. A dynamic simulation system including collision detection and response function was implemented to demonstrate the proposed methods, where the input data as elasticity, friction, gravity, object shape, external force and external torque are given by the user. The system simulates motions of multiple objects using dynamics, and generates the wireframe display.

• 선박안전
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• 통권36호
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• pp.71-78
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• 2014

If we don't know the intention of altering course of a target ship when being in a head-on or a crossing situation, we may be confused about our decision making to change our course for collision avoidance and be in a danger of collision. In order to solve these problems, we need to develop an automatic detection system on altering course of a target ship for efficient collision avoidance. In this paper, we proposed an early detection system on altering course of a target ship using the steering wheel signal. This system will contribute to the reduction of collision accidents and also be used to the VTS system and the analysis of marine accidents.

• 한국기계기술학회지
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• 제13권4호
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• pp.31-36
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• 2011

Smart Door(SD) is a human friendly power-assisted door system for passenger car doors. It offers comfort and safety to passengers and drivers by supplying additional power. In this study, dynamic system model and the equation of motion derivation are derived. And we propose the disturbance observer based collision detection algorithm for safety when opening the door. A disturbance caused by collision has a fast response compared to a friction, uncertainties and so on. The main idea this study is to estimate a variation of disturbance for stably and effectively detecting a collision. In order to evaluate a performance of collision detection, an experiment set up is constructed. The experimental results validate the usefulness of the proposed collision detection algorithm.

• 한국멀티미디어학회논문지
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• 제7권12호
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• pp.1729-1736
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• 2004

This paper proposes an efficient collision detection method in the dynamic spatial subdivisions for the MMORPG engine which requires realtime interactions. An octree is a suitable structure for static scenes or terrain processing. An octree spatial subdivision enhances rendering speed of scenes. Current spatial subdivisions tend to be highly optimized for efficient traversal, but are difficult to update quickly for a changing geometry. When an object moves to the outside extent for the spatial subdivisions, the acceleration structure would normally have to be rebuilt. The OSP based on a tree is used to divide dynamically wide outside which is the subject of 3D MMORPG. TBV does not reconstruct all tree nodes of OSP and has reduced rebuilding times by TBV information of a target node. A collision detection is restricted to those objects contained in the visibility range of sight by using the information established in TBV. We applied the HBV and ray tracing for an efficient collision detection.

• 로봇학회논문지
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• 제9권2호
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• pp.111-116
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• 2014

Human-robot co-operation becomes increasingly frequent due to the widespread use of service robots. However, during such co-operation, robots have a high chance of colliding with humans, which may result in serious injury. Thus, many solutions were proposed to ensure collision safety, and among them, collision detection algorithms are regarded as one of the most practical solutions. They allow a robot to quickly detect a collision so that the robot can perform a proper reaction to minimize the impact. However, conventional collision detection algorithms required the precise model of a robot, which is difficult to obtain and is subjected to change. Also, expensive sensors, such as torque sensors, are often required. In this study, we propose a novel collision detection algorithm which only requires motor encoders. It detects collisions by monitoring the high-pass filtered version of the velocity error. The proposed algorithm can be easily implemented to any robots, and its performance was verified through various tests.