• 한국항해항만학회지
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• 제34권2호
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• pp.91-95
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• 2010

Recently IMO and IALA have developed the strategy of e-Navigation and the concepts of VTM to enhance the safety, efficiency and security of vessel traffic and protection of the marine environment. And current technical and functional trends require vessel traffic management systems to be improved so as to control vessel traffic not only in waters of harbour area, but also within EEZ waters. Under the consideration of these circumstances, a three-layered vessel traffic management system was proposed in this paper. The proposed system consists of three sub-systems, called Local VTS, Regional VTS and National VTS, and those sub-systems are designed respectively to be suitable for managing vessel traffic within their own jurisdiction waters.

• 대한전기학회:학술대회논문집
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• 대한전기학회 1999년도 하계학술대회 논문집 G
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• pp.3086-3088
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• 1999

An ultrasonic sensor is one of most popular sensor used to navigate mobile robots within environments containing obstacles. But many navigation algorithm have studied because of the drawback of ultrasonic sensor such that poor directionality, frequent misreadings, specular reflections. Also, the most crucial drawback of this algorithm, that is VFF, VFM, EDM, PFM, WFM, GFM etc. has been that the mobile robot may become trapped in a local minimum. In this paper, we present a theoretical study of a navigation algorithm which integrals a heuristic-search local minimum (or trap) recovery method with a vector-field based method to maneuver cylindric mobile robots in unknown of unstructured environments. Also, an autonomous mobile robot uses dead-reckoning to estimate the current position and orientation of a mobile robot.

• 제어로봇시스템학회논문지
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• 제17권5호
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• pp.471-478
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• 2011

This UGV (Unmanned Ground Vehicle) is not only widely used in various practical applications but is also currently being researched in many disciplines. In particular, obstacle avoidance is considered one of the most important technologies in the navigation of an unmanned vehicle. In this paper, we introduce a simple algorithm for path planning in order to reach a destination while avoiding a polygonal-shaped static obstacle. To effectively avoid such an obstacle, a path planned near the obstacle is much shorter than a path planned far from the obstacle, on the condition that both paths guarantee that the robot will not collide with the obstacle. So, to generate a path near the obstacle, we have developed an algorithm that combines an edge detection method and a limit-cycle navigation method. The edge detection method, based on Hough Transform and IR sensors, finds an obstacle's edge, and the limit-cycle navigation method generates a path that is smooth enough to reach a detected obstacle's edge. And we proposed novel algorithm to solve local minima using the virtual wall in the local vision. Finally, we verify performances of the proposed algorithm through simulations and experiments.

• 센서학회지
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• 제33권4호
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• pp.196-202
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• 2024

Path-planning, a critical component of mobile robot navigation, comprises both local and global planning. Previous studies primarily focused on enhancing the individual performance of these planners, avoiding obstacles, and computing an optimal global path from a starting position to a target position. In this study, we introduce a practical path-planning framework that employs a target planner to bridge the local and global planners; this enables mobile robots to navigate seamlessly and efficiently toward a global target position. The proposed target planner assesses the visibility of waypoints along the global path, and it selects a reachable navigation target, which can then be used to generate efficient control commands for the local planners. A visibility-based target planner can handle situations, wherein the current, target waypoint is occupied by unknown obstacles. Real-world experiments demonstrated that the proposed pathplanning framework with the visibility-based target planner allowed the robot to navigate to the final target position along a more efficient path than the framework without a target planner.

• 한국군사과학기술학회지
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• 제22권2호
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• pp.197-206
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• 2019

Safe aircraft requires highly reliable navigation information. The traditionally used inertial navigation system (INS) often displays faulty location information due to its innate errors. To overcome this, the INS/GNSS or INS/TRN integrated navigation can be used. However, GNSS is vulnerable to jamming and spoofing, while TRN can be degraded in the flat and repetitive terrains. In this paper, to improve the performance and ensure the high reliability of the navigation system, the INS/GNSS/TRN integrated navigation based on federated filter is designed. Master filter of the integrated navigation uses the estimates and covariances of two local filters - INS/GNSS and INS/TRN integrated filters. The local filters are designed with the EKF that is feedforward type and composed of the 17st state variables. And the INS/GNSS integrated navigation includes the barometer error compensation method. Finally, the proposed INS/GNSS/TRN integrated navigation is verified by vehicle and captive flight tests.

• 한국컴퓨터정보학회논문지
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• 제23권8호
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• pp.95-99
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• 2018

This research is related to GPS(global positioning system) enabled device navigation service and consists of two parts. The first is the logic that records the route guidance video and records GPS information in time, and the second is the logic that outputs the created video data based on real time GPS. The recording logic first determines the origin and destination, records the video from the origin to the destination and it adjusts the speed of the image in a specific area so that the user can see it easily. And insert ancillary information and advertisements that can help guide the route. In the output logic, we provide navigation services using the video and GPS data tables we created, and it receives user's GPS information in real time and corrects it based on the recent user location to reduce errors. This provides local guidance services to people who lack language skills like foreigners.

• 제어로봇시스템학회논문지
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• 제6권3호
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• pp.291-297
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• 2000

This paper presents an attitude determination algorithm for the local level strapdown inertial navigation where the body the earth and the transport rate can be calculated separately using a DCM computation scheme, Also presented is a velocity determination algorithm taking into account the attitude variation caused by he change of the navigation frame. The proposed algorithm are implemented using three samples of the velocity and the angle within the integration interval.

• 한국항해항만학회:학술대회논문집
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• 한국항해항만학회 1995년도 VTS and IBS 95 The Korean Institute of Navigation 1995년도
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• pp.11-14
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• 1995

The question of recruitment qualification and standardization of VTS operators is reviewed through comparison with Air Traffic Control(ATC) The comparison reveals greater difference between the two services than commonality. While ATC enjoys a high degree of uniformity nationally and internationally the provision of VIS is dictated by varying local needs. The variety of those needs makes standardization of VTS operation a questionable short term objective. The paper concludes problem solving techniques such as the formal appreciation provide means of matching recruitment and qualification to local requriements.

• 대한산업공학회지
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• 제21권3호
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• pp.397-407
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• 1995

Use of a hypertext is growing as multimedia and hypermedia systems become popular. The major difference between hypertext-based and ordinary user interfaces is navigation. Typically, there are two major navigation problems in a hypertext compared to the ordinary user interface: "Disorientation" and "Cognitive Overload". To reduce or eliminate these problems of the hypertext system, a variety of aiding tools have been proposed. Among them, a local map is a good tool for helping users navigate through screens, especially for a large and complex system. This study examined three major design variables of a local map in a hypertext: breadth, depth, and functionality of a map. A human factors experiment was conducted to investigate the effects of these variables. Based upon the results of the experiment, design guidelines are suggested.

• 한국항행학회논문지
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• 제12권5호
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• pp.412-419
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• 2008

유전자 알고리즘은 효과적으로 최적의 해를 구하는 기법이나 진화연상산자의 선정에 따라 조기에 국부 최적해에 고착되어 전역 최적해로의 탐색을 어렵게 하는 문제점을 가지고 있다. 본 논문에서는 국부 최적해로 수렴하게 되는 원인을 분석하고, 국부 최적해에서 벗어나 전역 최적해로의 천이가 가능하도록 하는 방법을 제안하였다. 본 논문에서 사용한 방법은 평균 해밍거리에 따라 진화연산자를 가변시키는 방법으로서 국부 최적해에 고착되지 않도록 유전자에 다양성을 부여하여 지속적으로 모집단의 진화 특성을 유지하는 방법이다. 제안된 방법은 시뮬레이션을 통하여 효용성을 입증하였다.