• 한국군사과학기술학회지
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• 제23권4호
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• pp.407-416
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• 2020

Recent complex battle field demands Network Centric Warfare(NCW) ability to control various parts into a cohesive unit. In path planning filed, the NCW ability increases complexity of path planning algorithm, and it has to consider a communication coverage map as well as traditional parameters such as minimum radar exposure and survivability. In this paper, pros and cons of various propagation models are summarized, and we suggest a coverage map generation method using a Longley-Rice propagation model. Previous coverage map based on line of sight has significant discontinuities that limits selection of path planning algorithms such as Dijkstra and fast marching only. If there is method to remove discontinuities in the coverage map, optimization based path planning algorithms such as trajectory optimization and Particle Swarm Optimization(PSO) can also be used. In this paper, the Longley-Rice propagation model is used to calculate continuous RF strengths, and convert the strength data using smoothed leaky BER for the coverage map. In addition, we also suggest other types of rough coverage map generation using a lookup table method with simple inputs such as terrain type and antenna heights only. The implemented communication coverage map can be used various path planning algorithms, especially in the optimization based algorithms.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2005년도 심포지엄 논문집 정보 및 제어부문
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• pp.252-254
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• 2005

Completer coverage path planning requires the robot path to cover every part of the workspace, which is an essential issue in cleaning robots and many other robotic applications such as vacuum robots and painter robots. In this paper, a novel Water Flowing Algorithm (WFA) is proposed for cleaning robots to complete coverage path planning in unknown environment without obstacles. The robot covers the whole workspace just like that water fills up a container. First the robot goes to the lowest point in the workspace just like water flows to the bottom of the container. At last the robot will come to highest point in the workspace just like water overflows from the container and simultaneously the robot has covered the whole workspace. The computer simulation results show that the proposed algorithm enable the robot to plan complete coverage paths.

• 로봇학회논문지
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• 제6권3호
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• pp.255-262
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• 2011

Many intelligent robots have to be given environmental information to perform tasks. In this paper an intelligent robot, that is, a cleaning robot used a sensor fusing method of two sensors: LRF and StarGazer, and then was able to obtain the information. Throughout wall following using laser displacement sensor, LRF, the working area is built during the robot turn one cycle around the area. After the process of wall following, a path planning which is able to execute the work effectively is established using flow network algorithm. This paper describes an algorithm for minimal turning complete coverage path planning for intelligent robots. This algorithm divides the whole working area by cellular decomposition, and then provides the path planning among the cells employing flow networks. It also provides specific path planning inside each cell guaranteeing the minimal turning of the robots. The proposed algorithm is applied to two different working areas, and verified that it is an optimal path planning method.

• 로봇학회논문지
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• 제2권4호
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• pp.304-309
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• 2007

This paper describes an efficient path generation method for area coverage. Its applications include robots for de-mining, cleaning, painting, and so on. Our method is basically based on a divide and conquer strategy. We developed a novel cell decomposition algorithm that divides a given area into several cells. Each cell is covered by a robot motion that requires minimum time to cover the cell. Using this method, completeness and time efficiency of coverage are easily achieved. For the completeness of coverage in dynamic environments, we also propose a path following method that makes the robot cover missed areas as a result of the presence of unknown obstacles. The effectiveness of the method is verified using computer simulations.

• 한국산학기술학회논문지
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• 제20권7호
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• pp.211-217
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• 2019

고도화되는 전장 환경에서 적진의 정보는 군사 작전을 수행하는 데 있어 중요한 요소이다. 적진의 정보를 획득하기 위한 감시정찰을 목적으로 아군의 인력 손실이 없고 저 비용으로 임무에 투입이 가능한 무인항공기(UAV; Unmanned Aerial Vehicle, 이하 무인기) 운용이 늘어나고 있다. 무인기 임무 수행 환경은 대공위협이 존재하므로 무인기가 격추되지 않고 생존성을 보장할 수 있는 임무공간이 필요하다. 임무공간을 정의하기 위해서는 형상공간(Configuration Space) 개념을 활용하며, 적진의 대공방호영역 및 무인기가 탐지할 수 있는 범위를 고려한다. 무인기는 적진의 정보를 획득하기 위해 임무에 주어진 모든 영역을 방문해야 하며, 이를 위해 커버리지 경로 계획(Coverage Path Planning)을 수행한다. 무인기에 대한 위협 및 획득할 정보의 중요도를 바탕으로 무인기가 우선적으로 방문해야 할 영역을 정의하며, 격자지도를 생성하고 각 격자에 위협 정보를 매핑하여 경로 계획에 활용한다. 본 연구에서는 격자지도에 표시된 위협정보를 바탕으로 커버리지 조건 및 경로 계획 절차를 제시하며, 탐지 효율 향상을 위해 임무공간을 확장한다. 끝으로 본 연구에서 제시한 무인기 경로계획 방법에 대한 시뮬레이션을 수행하고, 관련된 결과를 제시한다.

• 제어로봇시스템학회논문지
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• 제11권9호
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• pp.789-794
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• 2005

This paper describes an algorithm for minimal turning complete coverage Path planning for cleaning robots. This algorithm divides the whole cleaning area by cellular decomposition, and then provides the path planning among the cells employing a flow network. It also provides specific path planning inside each cell guaranteeing the minimal turning of the robots. The minimal turning of the robots is directly related to the faster motion and energy saving. The proposed algorithm is compared with previous approaches in simulation and the result shows the validity of the algorithm.

• International journal of advanced smart convergence
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• 제12권4호
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• pp.8-19
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• 2023

This paper presents advancement in multi- unmanned aerial vehicle (UAV) cooperative area surveillance, focusing on optimizing UAV route planning through the application of genetic algorithms. Addressing the complexities of comprehensive coverage, two real-time dynamic path planning methods are introduced, leveraging genetic algorithms to enhance surveillance efficiency while accounting for flight constraints. These methodologies adapt multi-UAV routes by encoding turning angles and employing coverage-driven fitness functions, facilitating real-time monitoring optimization. The paper introduces a novel path planning model for scenarios where UAVs navigate collaboratively without predetermined destinations during regional surveillance. Empirical evaluations confirm the effectiveness of the proposed methods, showcasing improved coverage and heightened efficiency in multi-UAV path planning. Furthermore, we introduce innovative optimization strategies, (Foresightedness and Multi-step) offering distinct trade-offs between solution quality and computational time. This research contributes innovative solutions to the intricate challenges of cooperative area surveillance, showcasing the transformative potential of genetic algorithms in multi-UAV technology. By enabling smarter route planning, these methods underscore the feasibility of more efficient, adaptable, and intelligent cooperative surveillance missions.

• 한국정밀공학회지
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• 제26권7호
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• pp.73-80
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• 2009

This paper describes a path planning algorithm, which is the minimal turning path based on the shape and size of the cell to clean up the whole area with two cleaning robots. Our method divides the whole cleaning area with each cell by cellular decomposition, and then provides some path plans among of the robots to reduce the rate of energy consumption and cleaning time of it. In addition we suggest how to plan between the robots especially when they are cleaning in the same cell. Finally simulation results demonstrate the effectiveness of the algorithm in an unknown area with multiple robots. And then we compare the performance index of two algorithms such as total of turn, total of time.

• 대한전기학회논문지:시스템및제어부문D
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• 제49권9호
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• pp.538-545
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• 2000

In this paper we proposed a new map construction and path planning method for mobile robot. In our proposed method first we introduced triangular representation map that mobile robot can navigate through shorter path and flexible motion instead of grid representation map for mobile robot navigation. method in which robot can navigate complete space through as short path as possible in unknown environment is proposed. Finally we proposed new path planning method in a quadtree representation map. To evaluate the performance of our proposed new path planning method in a quadtree representation map. To evaluate the performance of our proposed triangular representation map it was compared with the existing distance transform path planning method. And we considered complete coverage navigation and new path planning method through several examples.

• 한국정보처리학회:학술대회논문집
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• 한국정보처리학회 2002년도 추계학술발표논문집 (하)
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• pp.2431-2434
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• 2002

본 논문에서는 전체 영역 경로 계획인 CCPP(Complete Coverage Path Planning)를 이용해 전 청소 영역을 청소하는 방법을 나타내고 청소영역을 해석 하였다. 그리고, Template방법에 CD(Cell Decomposition)을 접목시킨 방법을 이용해 청소영역을 청소 후 재 경로계획으로 청소 안된 영역을 효율적으로 청소하는 방법을 연구하였다. 또한 청소기의 회전 및 직선 모션에 따른 청소 영역을 비교 해석해 최적 시간과 거리에 따른 경로 계획을 살펴보았다.