• The Journal of Korea Robotics Society
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• v.14 no.4
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• pp.285-292
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• 2019

Path planning is an important problem to solve in robotics and there has been many related studies so far. In the previous research, we proposed the Heterogeneous-Ants-Based Path Planner (HAB-PP) for the global path planning of mobile robots. The conventional path planners using grid map had discrete state transitions that constrain the only movement of an agent to multiples of 45 degrees. The HAB-PP provided the smoother path using the heterogeneous ants unlike the conventional path planners based on Ant Colony Optimization (ACO) algorithm. The planner, however, has the problem that the optimization of the path once found is fast but it takes a lot of time to find the first path to the goal point. Also, the HAB-PP often falls into a local optimum solution. To solve these problems, this paper proposes an improved ant-inspired path planner using the Rapidly-exploring Random Tree-star ($RRT^*$). The key ideas are to use $RRT^*$ as the characteristic of another heterogeneous ant and to share the information for the found path through the pheromone field. The comparative simulations with several scenarios verify the performance of the improved HAB-PP.

• Korean Management Science Review
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• v.30 no.2
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• pp.31-42
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• 2013

The vehicle routing problem (VRP) can be described as a problem to find the optimum traveling routes from one or several depot (s) to number of geographically scattered customers. This study executes a revised Heterogeneous Vehicle Routing Problem (HVRP) to minimize the cost that needs to conduct efficiently the snow removal operations of Air Wing under available resources and limited operations time. For this HVRP, we model the algorithm of an hybrid Ant Colony System (ACS). In the initial step for finding a solution, the modeled algorithm applies various alterations of a parameter that presents an amount of pheromone coming out from ants. This improvement of the initial solution illustrates to affect to derive better result ultimately. The purpose of this study proves that the algorithm using Hybrid heuristic incorporated in tabu and ACS develops the early studies to search best solution.

• The Journal of the Korea institute of electronic communication sciences
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• v.17 no.1
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• pp.181-186
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• 2022

There is a demand for an intermodal automatic transport bogie as a means for efficient logistics transport. Intermodal is characterized by high demand for single-track operation in a specific section in connection with heterogeneous transportation means. In this study, a driving information system that is simple and optimized for the intermodal automatic transportation bogie is implemented to be suitable for the characteristics of the inter-modal automatic transportation bogie, unlike the existing railroad operation system, and applied to a real large-scale demonstration model to ensure in-place stopping and a smooth interface between each system. and operational examples with a simplified system.