• Proceedings of the Korean Operations and Management Science Society Conference
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• 2006.11a
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• pp.60-66
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• 2006

This paper presents a new algorithm for the K shortest path problem in a directed network. After a shortest path is produced with Dijkstra algorithm, detouring paths through inward arcs to every vertex of the shortest path are generated. A length of a detouring path is the sum of both the length of the inward arc and the difference between the shortest distance from the origin to the head vertex and that to the tail vertex. K-1 shorter paths are selected among the detouring paths and put into the set of K paths. Then detouring paths through inward arcs to every vertex of the second shortest path are generated. If there is a shorter path than the current Kth path in the set, this path is placed in the set and the Kth path is removed from the set, and the paths in the set is rearranged in the ascending order of lengths. This procedure of generating the detouring paths and rearranging the set is repeated for the K-1 st path of the set. This algorithm can be applied to a problem of generating the detouring paths in the navigation system for ITS and also for vehicle routing problems.

• Journal of the Korean Operations Research and Management Science Society
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• v.26 no.3
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• pp.79-94
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• 2001

This paper presents a new algorithm for the K shortest paths Problem which develops initial K shortest paths, and repeat to expose hidden shortest paths with dual approach and to replace the longest path in the present K paths. The initial solution comprises K shortest paths among shortest paths to traverse each arc in a Double Shortest Arborescence which is made from bidirectional Dijkstra algorithm. When a crossing node that have two or more inward arcs is found at least three time by turns in this K shortest paths, there may be some hidden paths which are shorter than present k-th path. To expose a hidden shortest path, one inward arc of this crossing node is chose by means of minimum detouring distance calculated with dual variables, and then the hidden shortest path is exposed with joining a detouring subpath from source to this inward arc and a spur of a feasible path from this crossing node to sink. If this exposed path is shorter than the k-th path, the exposed path replaces the k-th path. This algorithm requires worst case time complexity of O(Kn$^2$), and O(n$^2$) in the case k$\leq$3.

• The Journal of the Korea institute of electronic communication sciences
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• v.6 no.1
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• pp.148-156
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• 2011

This paper presents an implementation of autonomous navigation of a mobile robot indoors. It explains methods for map building, localization, obstacle avoidance and path planning. Geometric map is used for localization and path planning. The localization method calculates sensor data based on the map for comparison with the real sensor data. Monte Carlo Localization(MCL) method is adopted for estimation of the robot position. For obstacle avoidance, an artificial potential field generates repulsive and attractive force to the robot. Dijkstra algorithm plans the shortest distance path from a start position to a goal point. The methods integrate into autonomous navigation method and implemented for indoor navigation. The experiments show that the proposed method works well for safe autonomous navigation.

• Journal of the Society of Naval Architects of Korea
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• v.54 no.3
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• pp.187-195
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• 2017

The operation planning of transports used to move blocks is the one of key factors. Furthermore, reducing the running time through the effective plan contributes to pulling forward the whole logistic process of the shipyard and substantially saving the fuel consumption of itself as well. The past researches of the transporter focused on finding only the shortest distances, so called, Manhattan distance. However, these searching approaches cannot help having the significant difference in the real operational time and distance with the minimum cost approach which considers the speed retardation for turns or safety at the intersection. This study suggests the noble transporter's operational model which could take account of the consuming operational time around the crossroads on the shipyard. Concretely, the proposed method guarantees the minimization of transporters' turns and passage number which are huge burdensome to the operation time and the whole planning of transports with the given period. Resultantly, this paper is willing to explain the appropriateness of our approach, compared with the previous ones.

• The Journal of the Korea institute of electronic communication sciences
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• v.17 no.6
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• pp.1221-1228
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• 2022

With the development of modern technology, the use of unmanned automation equipment that can replace humans in logistics and industrial sites is increasing. The technology of one such automation facility, the Unmanned Carrier (AGV), includes Line Tracing, which allows you to recognize a line through infrared sensors and drive a predetermined route. In this paper, the shortest time algorithm using Arduino is configured in the line tracing technology to enable efficient driving. It is also designed to collect location and time information using RFID tags.

• Korean Management Science Review
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• v.15 no.2
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• pp.229-237
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• 1998

This paper presents a new algorithm for the K Shortest Paths Problem which is developed with a Double Shortest Arborescence and an inward arc breaking method. A Double Shortest Arborescence is made from merging a forward shortest arborescence and a backward one with Dijkstra algorithm. and shows us information about each shorter path to traverse each arc. Then K shorter paths are selected in ascending order of the length of each short path to traverse each arc, and some paths of the K shorter paths need to be replaced with some hidden shorter paths in order to get the optimal paths. And if the cross nodes which have more than 2 inward arcs are found at least three times in K shorter path, the first inward arc of the shorter than the Kth shorter path, the exposed path replaces the Kth shorter path. This procedure is repeated until cross nodes are not found in K shorter paths, and then the K shortest paths problem is solved exactly. This algorithm are computed with complexity o($n^3$) and especially O($n^2$) in the case K=3.

• Journal of the Korean Operations Research and Management Science Society
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• v.23 no.3
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• pp.17-26
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• 1998

Shortest path problem in road network with turn penalties and prohibitions frequently arises from various transportation optimization models. In this paper, we propose a new algorithm for the shortest Path problem with turn prohibitions and delays. The proposed algorithm maintains distance labels of arcs, which is similar to labels of nodes of Dijkstra's algorithm. Fibonacci heap implementation of the proposed algorithm solves the problem in O(mn ＋ mlogm). We provide a new insight in transforming network with turn penalties and prohibitions into another network in which turn penalties and prohibitions are implicitly considered. The proposed algorithm is implemented using new data structure and compared with Ziliaskopoulos' algorithm. Computational results show that the proposed algorithm is very efficient.

• Proceedings of the Korean Operations and Management Science Society Conference
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• 2002.05a
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• pp.8-14
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• 2002

This article presents a new algorithm for the K Shortest Paths Problem which develops initial K shortest paths, and repeal to expose hidden shortest paths with dual approach and to replace the longest path in the present K paths. The initial solution which comprises K shortest paths among shortest paths to traverse each arc is made from bidirectional Dijkstra algorithm. When a crossing node that have two or more inward arcs is found at least three time by turns in this K shortest paths, one inward arc of this crossing node, which has minimum detouring distance, is chosen, and a new path is exposed with joining a detouring subpath from source to this inward arc and a spur of a feasible path from this crossing node to sink. This algorithm, requires worst case time complexity of $O(Kn^2),\;and\;O(n^2)$ in the case $K{\leq}3$.

• Proceedings of the Korean Information Science Society Conference
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• 2005.11a
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• pp.976-978
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• 2005

We present a nearly optimal ($O(\nu\;min(\nu,\;n)n\;log\;n)$ time and O(n) srace) algorithm that constructs a shortest path map with n isothetic roads of speed $\nu$ under the $L_1$ metric. The algorithm uses the continuous Dijkstra method and its efficiency is based on a new geometric insight; the minimum in-degree of any nearest neighbor graph for points with roads of speed $\nu$ is $\Theta(\nu\;min(\nu,\;n))$, which is first shown in this paper. Also, this algorithm naturally extends to the multi-source case so that the Voronoi diagram for m sites can be computed in $O(\nu\;min(\nu,\;n)(n+m)log(n+m))$ time and O(n+m) space, which is also nearly optimal.

• 한국HCI학회:학술대회논문집
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• 2006.02a
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• pp.541-546
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• 2006

3차원 관상동맥을 분석하기 위해서는 혈관의 분기점, 극단점, 혈관의 계층적 구조 관계를 함축적으로 표현하는 것이 매우 중요하다. 본 논문에서는3차원 CT 혈관 조영 영상으로부터 관상동맥의 3차원 골격을 자동으로 추출하는 방법을 개발하였다. 먼저, CT혈관 조영술에 의해 획득된 슬라이스 이미지로부터 3차원 조작 및 수술 시뮬레이션 등을 위하여 혈관의 3차원 표면에 대한 메쉬 모델을 생성한다. 생성된 메쉬 모델이 임의로 변형된 후에도 자동으로 골격을 쉽게 추출할 수 있도록 메쉬 모델을 복셀화하는 단계를 거친다. 이렇게 얻어진 복셀 모델로부터 표면복셀을 결정하고 표면 복셀로부터 객체 복셀까지의 유클리드 거리값를 계산하여 유클리드 거리맵(EDM)을 계산한다. 계산된 EDM 으로부터 객체 복셀이 가지게 되는 최대 내접 구를 계산하여 Discrete Medial Surface을 생성하게 되는데 이것은 골격의 후보가 된다. 골격의 후보집합 복셀에 대하여 Dijkstra 최단 경로 결정 알고리즘을 적용하여 골격을 자동으로 추출하게 된다. 이렇게 추출된 3차원 골격은 관상동맥 수술 시뮬레이션 등의 다양한 형상 분석에 유용하게 사용될 수 있다.