• 한국군사과학기술학회지
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• 제13권2호
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• pp.171-179
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• 2010

A fundamental technology of UGV(Unmanned Ground Vehicle) to perform a given mission with success in various environment is a path planning method which generates a safe and optimal path to the goal. In this paper, we suggest a local path-planning method of UGV based on the binary map using world model data which is gathered from terrain perception sensors. In specially, we present three core algorithms such as shortest path computation algorithm, path optimization algorithm and path smoothing algorithm those are used in the each composition module of LPP component. A simulation is conducted with M&S(Modeling & Simulation) system in order to verify the performance of each core algorithm and the performance of LPP component with scenarios.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1990년도 한국자동제어학술회의논문집(국내학술편); KOEX, Seoul; 26-27 Oct. 1990
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• pp.726-730
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• 1990

In this paper, assuming that local range information is available, a collision-free path planning algorithm for multiple mobile robots is presented by using Hopfield neural optimization network. The energy function of the network is built using the present position and the goal position of each robot as well as its local range information. The proposed algorithm has several advantages such as the effective passing around obstacles with the directional safety distance, the easy implementation of robot motion planning including its rotation, the real-time path planning capability from the totally localized computations of path for each robot, and the adaptivity on arbitrary environment since any special shape of obstacles is not assumed.

• 제어로봇시스템학회논문지
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• 제18권7호
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• pp.664-668
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• 2012

Hierarchical IPP (Integrated Path Planning) combining the GPP (Global Path Planner) and the LPP (Local Path Planner) is interesting the researches who study about the mobile vehicle in recent years. However, in this study, there is the path mismatch problem caused by the difference in the map information available to both path planners. If ever a part of the path that was found by the GPP is available to mobile vehicle, the part may be unavailable when the mobile vehicle generates the local path with its built-in sensors while the vehicle moves. This paper proposed the TWR (Temporal Waypoint Reviser) to solve the path mismatch problem of the hierarchical IPP. The results of simulation provide the performance of the IPP with the TWR by comparing with other path planners.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2005년도 ICCAS
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• pp.2325-2330
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• 2005

A potential field method for solving the problem of path planning based on global and local information for a mobile robot moving among a set of stationary obstacles is described. The concept of various method used path planning is used design a planning strategy. A real human living area is constructed by many moving and imminence obstacles. Home service mobile robot must avoid many obstacles instantly. A path that safe and attraction towards the goal is chosen. The potential function depends on distance from the goal and heuristic function relies on surrounding environments. Three additional combined methods are proposed to apply to human living area, calibration robots position by measured surrounding environment and adapted home service robots. In this work, we proposed the application of various path planning theory to real area, human living. First, we consider potential field method. Potential field method is attractive method, but that method has great problem called local minimum. So we proposed intermediate point in real area. Intermediate point was set in doorframe and between walls there is connect other room or other area. Intermediate point is very efficiency in computing path. That point is able to smaller area, area divided by intermediate point line. The important idea is intermediate point is permanent point until destruction house or apartment house. Second step is move robot with sensing on front of mobile robot. With sensing, mobile robot recognize obstacle and judge moving obstacle. If mobile robot is reach the intermediate point, robot sensing the surround of point. Mobile robot has data about intermediate point, so mobile robot is able to calibration robots position and direction. Third, we gave uncertainty to robot and obstacles. Because, mobile robot was motion and sensing ability is not enough to control. Robot and obstacle have uncertainty. So, mobile robot planed safe path planning to collision free. Finally, escape local minimum, that has possibility occur robot do not work. Local minimum problem solved by virtual obstacle method. Next is some supposition in real living area.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2012년도 춘계학술대회 논문집
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• pp.41-42
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• 2012

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2013년도 춘계학술대회 논문집
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• pp.445-446
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• 2013

• 농촌계획
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• 제13권2호
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• pp.107-120
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• 2007

The purpose of study was planning to a rural community space plan for revitalization of aging in rural society and activity of rural older adults. The rural community type was divided 5 categories by local topography characteristics and road system. According to 5 categories, the rural community space plan was consisted of space plan such as consideration for a rural topography characteristics and activity plan by space which analyzed a relations with rural resource and activity of rural older adults. Results from the rural community planning showed that to improve quality of life and to increase in economic productive activity for rural older adults, moreover to lead a retired oppidan migrate from city to country and to make full use of oppidan's intellectual capacity resource.

• 농촌지도와개발
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• 제18권4호
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• pp.903-931
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• 2011

The purpose of this study is to suggest better ways for operating Slowcity Sangju based on the literature reviews about Participatory planning and empirical investigation. As a form of participatory planning, survey was conducted and examined the perception of residents toward importance of different sub-plans in operating Slowcity. The results show that the residents in Sangju have high level of preference on the economy related plans such as adding values to local products by applying the name of Slowcity to their resources. In addition, the more expectation and understanding to slowcity they have, the more interested in the participatory process and slowcity planning the residents become. Consequently, this research suggests that it is required for successful participatory planning of Slowcity to building an association for operating Slowcity with local peoples.

• 농촌계획
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• 제21권1호
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• pp.143-154
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• 2015

This study has set up a plan to establish a trail as a means of maximizing a community by using the residents' living materials and unused facilities that a village holds now. A local archive is a place where the records and living materials collected from a village are preserved, displayed and shared with others, serving as a complex space with multiple functions. To apply the idea of 'utilizing a local archive', the empirical study was conducted by making an analysis of trail resources of Baekryeong Island and local archive application resources. Local archive resources were selected through evaluation of connection of trail routes by investigating and discovering the unused facilities of Baekryeong Island village and the depreciation level and scale of them. And actual local archive living references were investigated and collected through in-depth interviews of villagers. Also, through planning of trails by region, limitations of investigation activities were improved and various tangible and intangible resources owned by Baekryeong Island were utilized to enable effective and distinctive investigation activities and experiences. Unused facilities were surveyed and chosen to take advantage of the local archive space, along with in-depth interviews with the residents living in Baekryeong Island. In addition, the current conditions for the trail routes were checked out in order to 'point out the final routes'.

• 대한건축학회논문집:계획계
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• 제34권1호
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• pp.83-94
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• 2018

UNESCO has continued to work in Africa, especially in the six southern sub-Saharan countries, and Asia, where international cooperation is needed. The CLC (Rwanda Community Learning Center) covered in this study aims to create a regional learning center in Rwanda and to recover local communities and provide learning environment. During the course of this study, we conducted field trips for actual planning and reviewed the current state of educational and cultural facilities that recently opened and are operated, and found implications. In consultation with the Rwandan Educational Commission, the site for CLC was decided, the building was designed, and the construction is about to start. The results of this study are as follows. First, in addition to the efforts of the activists in the village, which can be considered the smallest unit of a local community, the approach for establishing an architectural space and active education and community environment can be evaluated as a result of experimental efforts. Second, we can pay attention to the attempts to realize local communities. The bridge business is based on the multi-purposes such as early childhood education, technical education for adults, and community restoration of local residents and it reflects space and program plans for this purposes. It also reflects detailed plans such as differentiating the flow planning depending on users' time of use. Third, we can explain the characteristics of architectural planning considering local characteristics such as active use of local materials. Due to the characteristics of a developing country, there were significant considerations on maintenance, and to this end, the plan included plans for the environment and use of materials that are easily maintained. In addition, the participation of local residents in the process of establishment was suggested as a possibility to serve an educational role.