• Journal of the Korean Institute of Intelligent Systems
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• v.18 no.5
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• pp.599-604
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• 2008

Recently, many researches for autonomous mobile system have been proposed, which can recognize surrounded environment and navigate to destination without outside intervention. The basic sufficient condition for the autonomous mobile system is to navigate to destination safely without accident. In this paper, we propose a path planning method in local region for safe navigation of autonomous system through evaluation of the road surface distortion(damaged/deformed road, unpaved road, obstacle and etc.). We use laser distance sensor to get the information on the road surface distortion and apply image binalization method to evaluate safe region in the detected local region. We show the validity of the proposed method through the computer simulation based on the artificial local road map.

• Proceedings of the Korean Institute of Intelligent Systems Conference
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• 1993.06a
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• pp.1254-1257
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• 1993

Presented in this paper is a newly developed motion planning method of an autonomous mobile robot(MAR) which can be applied to flexible manufacturing systems(FMS). The mobile robot is designed for transporting tools and workpieces between a set-up station and machines according to production schedules of the whole FMS. The proposed method is implemented based on an earlier developed real-time obstacle avoidance method which employs Kohonen network for pattern classification of sonar readings and fuzzy logic for local path planning. Particulary, a novel obstacle avoidance method for moving objects using a collision index, collision possibility measure, is described. Our method has been tested on the SNU mobile robot. The experimental results show that the robot successfully navigates to its target while avoiding moving objects.

• Journal of Information Processing Systems
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• v.17 no.5
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• pp.879-891
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• 2021

With improvements in living conditions, an increasing number of people are choosing to spend their time traveling. Comfortable tour routes are affected by the season, time, and other local factors. In this paper, the influencing factors and principles of scenic spots are analyzed, a model used to find the available routes is built, and a multi-route choice model based on a game theory utilizing a path recommendation weight is developed. A Monte Carlo analysis of a tourist route subjected to fixed access point conditions is applied to account for uncertainties such as the season, start time, end time, stay time, number of scenic spots, destination, and start point. We use the Dijkstra method to obtain multiple path plans and calculate the path evaluation score using the Monte Carlo method. Finally, according to the user preference in the input path, game theory generates path ordering for user choice. The proposed approach achieves a state-of-the-art performance at the pseudo-imperial palace. Compared with other methods, the proposed method can avoid congestion and reduce the time cost.

• Journal of Korean Society of Rural Planning
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• v.26 no.1
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• pp.77-88
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• 2020

This study had comparatively analyzed the influence factors of the farm village business on the local farmhouses centered on the level of importance and the level of performance. For this, a questionnaire survey had been conducted with 350 local residents who had participated in the Rural Field Forum of 14 villages, including Gyeongsangnam-do, Gyeongsangbuk-do, Chungcheongnam-do, Chungcheongbuk-do, Jeollabuk-do, etc. Excluding the insincere survey questionnaires, the final 232 people had been analyzed. As a result of the analysis of this study, the factors that have the influences on the diverse, rural areas had been compressed into the three factors of the lodging and the program, the special, rural area products, and the transportation and the accessibility. In the level of importance-level of performance analysis, it had been analyzed that the special, rural area products must maintain the continuity, that the transportation accessibility must avoid the excessive endeavor, and that the lodging program had a low priority order. Therefore, it can be said that it is necessary to concentrate the capability of the rural village business in the direction of developing the local specialties in the future. Next, after dividing the level of performance and the level of importance into the two groups each, the multiple group path analysis had been carried out. As a result, in the result of the analysis of the path that has an influence on the economic factor, the path coefficient of the level of importance of the transportation accessibility -> profit increase was 0.195+0.064 and the path coefficient of the level of performance of the transportation accessibility -> profit increase was 0.251+0.074. Therefore, both of them had the statistically significant amounts of the influences. This suggests that the transportation accessibility is an important element of the profit increase of the region. As a result, in the future, the research on the urban and rural exchanges using the even more convenient and inexpensive transportation means is needed. Most of them need the voluntary effort of the residents for being able to creatively develop and sell the native, agricultural, specialty products that are petty. Also, the rural areas need the diversities of the lodging programs and the recreational programs, a convenient reservation system, and the development of a unique tourism experience program. In the future, the researches that had been advanced in the even more detailed domain that is related to these factors are highly expected. Also, the analyses that had been carried out with even more areas and subjects as the targets are needed.

• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.2387-2392
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• 2003

In this paper, We designed the local path planning direction algorithmusing fuzzy controller applied fuzzy logic. Algorithm decieded a direction angle by theposition of obstacle, the distance with obstacle, the progress direction of robot, the speed of vehicles and the perception area of sensor. The robot designed with proposed algorithm carried out soft moving without any particular operation, and we could observe that it had very soft curved moving as if an expert drove.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.58 no.4
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• pp.824-831
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• 2009

This paper proposes an obstacle avoidance algorithm for an autonomous mobile robot. The proposed method based on the circular navigation with probability distribution finds local-paths to avoid collisions. Futhermore, it makes mobile robots to achieve obstacle avoidance and optimal path planning due to the accurate decision of the final goal. Simulation results are included to show the feasibility of the proposed method.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2004.05a
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• pp.17-17
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• 2004

자율 이동로봇은 현재 각광을 받고 있는 서비스로봇의 연구와 더불어 활발히 연구되고 있다. 그 중 경로계획 부분에 대한 연구는 Roadmap Method, Cell Decomposition, Potential Field Method로 크게 구분하여 연구되고 있다. 그러나 경로계획 기법에 있어서 기존의 정형화된 방법 이외에 다른 방법들이 제시 되지 않고 있다. 기존 경로계측의 문제점들은 다음과 같다. 국부최소(local minimum)를 회피하지 못하거나, 많은 계산량으로 인해 넓은 범위에 적용시킬 수 없다는 문제점, 오프라인으로 경로의 최적성에만 치중하여 실시간으로 적용하기가 쉽지 않으며, 돌발적인 상황에 대처하기 어렵다는 문제점 등을 가지고 있다.(중략)

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 2021.10a
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• pp.94-96
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• 2021

In this paper, we develop a new navigation algorithm for industrial mobile robots to arrive at the destination in unknown environment. To achieve this, we suggest a navigation algorithm that combines Dynamic Window Approach (DWA) and Dijkstra path planning algorithm. We compare Local Dynamic Window Approach (LDWA), Global Dynamic Window Approach(GDWA), Rapidly-exploring Random Tree (RRT) Algorithm. The navigation algorithm using Dijkstra algorithm combined with LDWA and GDWA makes mobile robots to reach the destination. and obstacles faced during the path planning process of LDWA and GDWA. Then, we compare on time taken to arrive at the destination, obstacle avoidance and computation complexity of each algorithm. To overcome the limitation, we seek ways to use the optimized navigation algorithm for industrial use.

• International Journal of Fuzzy Logic and Intelligent Systems
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• v.5 no.3
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• pp.222-229
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• 2005

This paper presents a self-organizing scheme for multi-agent swarm systems based on coupled nonlinear oscillators (CNOs). In this scheme, unicycle robots self-organize to flock and arrange group formation through attractive and repulsive forces among themselves. The main result is the maintenance of flexible and scalable formation. It is also shown how localized distributed controls are utilized throughout group behaviors such as formation and migration. In the paper, the proposed formation ensures safe separation and good cohesion performance among the robots. Several examples show that the proposed method for group formation performs the group behaviors such as reference path following, obstacle avoidance and flocking, and the formation characteristics such as flexibility and scalability, effectively.

• Proceedings of the KIEE Conference
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• 2001.07d
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• pp.2335-2337
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• 2001

In this paper, we address a new complete coverage navigation algorithm and guidance methodology for the cleaning robot. The proposed algorithm is based on the grid map. Six templates, excluding a Back-Trace(BT) template are used as the local navigation method. The effectiveness of the algorithm proposed in this paper is thoroughly demonstrated through simulations and the evaluation of parameters for the path execution.