• Journal of the Korea Institute of Military Science and Technology
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• v.24 no.1
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• pp.61-69
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• 2021

Recently, autonomous navigation technology is actively being developed due to the increasing demand of an unmanned surface vehicle(USV). Local planning is essential for the USV to safely reach its destination along paths. the dynamic window approach(DWA) algorithm is a well-known navigation scheme as a local path planning. However, the existing DWA algorithm does not consider path line tracking, and the fixed weight coefficient of the evaluation function, which is a core part, cannot provide flexible path planning for all situations. Therefore, in this paper, we propose a new DWA algorithm that can follow path lines in all situations. Fixed weight coefficients were trained using reinforcement learning(RL) which has been actively studied recently. We implemented the simulation and compared the existing DWA algorithm with the DWA algorithm proposed in this paper. As a result, we confirmed the effectiveness of the proposed algorithm.

• Health Policy and Management
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• v.30 no.2
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• pp.142-150
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• 2020

The purpose of this study is to analyze the long-term plans of the central and local governments in order to plan policy and implementing programs. Through this, the governments is find out to reduce administrative burden. Based on the national health plan, evidence and related laws were collected and analyzed. As a quantitative methodology analyzed the contents of related laws in the overall plan. The qualitative methodologies analyzed and categorized the planning status of cities and provinces in the plan and were collated. There are a total of 39 plans for long-term plans by laws. The role of the central and local governments in the public health sector, there are a total of four plans (10.3%) that need to establish long-term and annual plans for the central and local (cities, provinces) government. A total of seven plans (17.9%) were required to establish a plan by the only local government. In terms of the public health sector on the local governments, 20 plans (51.3%) by cities and 12 plans (30.8%) by provinces were established by law. And in the health sector should be established 9 plans (40.9%) by cities and 7 plans (31.8%) by provinces. The plan needs to be reformed and merged between plans so that governments can focus on the program through planning central government policies, reducing local government administration.

• Journal of Korean Society of Rural Planning
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• v.20 no.4
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• pp.55-66
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• 2014

This study analyzed the recognition of local residents surrounding farmland conversion area. The details of the survey on the residents included recognition of farmland conversion, the usage and reason of farmland conversion in the surrounding area, impacts of farmland conversion on the local region and agricultural production, and change in farmland prices. According to the analysis, the aging of the local residents progressed, and the ratio of farming population was high in the case study area. There were many warehouse facilities and small scale factories in terms of farmland conversion in the case study area, due to the surrounding area characteristics of industrial complex and relatively cheaper land prices. The farmland conversion affected the local area and residents both positively and negatively, and the surrounding area's land prices rose. The policy implications, based on the findings in this study, indicate the following need to be carried out: the consolidation of action on farmland pollution upon farmland conversion, review of planned collective conversion mode, and return of the land price hike profits to the affected local area and residents. Actually, farmland conversion should be conducted, after a comprehensive and systematic review, because it affects the local area and residents in a complex way.

• Journal of the Korean Institute of Illuminating and Electrical Installation Engineers
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• v.13 no.2
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• pp.32-38
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• 1999

An autonomous mobile vehicle for transport system must plan optimal path in work envimnrent without human supervision and obstacle collision. This is to reach a destination without getting lost. In this paper, a genetic algorithm for globaI and local path planning and collision avoidance is proposed. The genetic algorithm searches for a path in the entire and continuous free space and unifies global path planning and local path planning. The sinmulation shows the proposed method is an efficient and effective method when compared with the traditional collision avoidance algorithms.rithms.

• Architectural research
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• v.22 no.3
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• pp.75-84
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• 2020

This paper takes a qualitative approach to examining liveability by analysing the participatory planning proposals delivered by the local residents in Daegu, South Korea. Drawing on the textual resources of the proposals and interview data, the perceived liveability was found to vary across different neighbourhoods, and community cohesion and community capacity building were found highly valued in the liveability discourses in the Korean context. The paper argues that our understandings of liveability should be localised and contextualised at a sub-municipal level. It also highlights that participatory planning can be useful in articulating local communities' perception and experiences of liveability of their immediate localities, particularly in the less attractive and less affluent neighbourhoods in the city.

• Journal of Institute of Control, Robotics and Systems
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• v.2 no.3
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• pp.200-208
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• 1996

This paper describes the mechanism, guidance, sensor system, and navigation algorithm of METRO, a free ranging mobile robot. METRO is designed for use in structured surroundings or factory environments rather than unstructured natural environments. An overview of the physical configuration of the mobile robot is presented as well as a description of its sensor system, an omnidirectional laser range finder. Except for the global path planning algorithm, a guidance and a navigation algorithm with a local path planning algorithm are used to navigate the mobile robot. In METRO the computer support is divided into a supervisor with image processing and local path planning and a slave with motor control. The free ranging mobile robot is self-controlled and all processing being performed on board.

• The Proceedings of the Korean Institute of Illuminating and Electrical Installation Engineers
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• v.13 no.2
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• pp.164-164
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• 1999

An autonomous mobile vehicle for transport system must plan optimal path in work environment without human supervision and obstacle collision. This is to reach a destination without getting lost. In this paper, a genetic algorithm for global and local path planning and collision avoidance is proposed. The genetic algorithm searches for a path in the entire and continuous free space and unifies global path planning and local path planning. The simulation shows the proposed method is an efficient and effective method when compared with the traditional collision avoidance algorithms.

• Proceedings of the KIEE Conference
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• 2001.07d
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• pp.2417-2419
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• 2001

A path planning is one of the main subjects in a mobile robot. It is divided into two parts. One is a global path planning and another is a local path planning. This paper, using the formal two methods, presents that the mobile robot moves to multi-targets with avoiding unknown obstacles. For the shortest time and the lowest cost, the mobile robot has to find a optimal path between targets. To find a optimal global path, we used GA(Genetic Algorithm) that has advantage of optimization. After finding the global path, the mobile robot has to move toward targets without a collision. FLC(Fuzzy Logic Controller) is used for local path planning. FLC decides where and how faster the mobile robot moves. The validity of the study that searches the shortest global path using GA in multi targets and moves to targets without a collision using FLC, is verified by simulations.

• Journal of the Korean Society for Precision Engineering
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• v.12 no.1
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• pp.58-67
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• 1995

A path planning algorithm using a laser range finder are presented for real-tiem navigation of an autonomous guided vehicle. Considering that the laser range finder has the excellent resolution with respect to angular and distance measurements, a sophisticated local path planning algorithm is achieved by using the human's heuristic method. In the case of which the man knows not rhe path, but the goal direction, the man forwards to the goal direction, avoids obstacle if it appears, and selects the best pathway when there are multi-passable ways between objects. These heuristic principles are applied to the path decision of autonomous guided vehicle such as forward open, side open and no way. Also, the effectiveness of the established path planning algorithm is estimated by computer simulation in complex environment.

• Journal of Korean Society of Rural Planning
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• v.25 no.1
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• pp.89-97
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• 2019

This study aims to make a revitalizing plan for managing and maintaining of facilities which were installed after the rural development projects. The survey was conducted to examine some issues of operating facilities from the developing plan. There were some factors that should be considered in the establishment stage of the project plan when promoting rural development projects. Among them, the preservation and maintenance of rurality, consistency with business plans, connectivity with local resources, and ease of maintenance were less reflective than its importance. And for each facility, systematic consulting on appropriate scale and operational management plans and detailed planning is needed.. It's also necessary to plan action so that the local community can lead. The current or future rural development project will be succeeded when local governments support to strengthening their local groups or people's abilities.