• Journal of Institute of Control, Robotics and Systems
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• v.14 no.11
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• pp.1130-1138
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• 2008

A mobile robot should be designed to navigate with collision avoidance capability in the real world, coping with the changing environment flexibly. In this paper, a novel navigation method is proposed for fast moving mobile robots using limit-cycle characteristics of the 2nd-order nonlinear function. It can be applied to robots in dynamically changing environment such as the robot soccer. By adjusting the radius of the motion circle and the direction of the obstacle avoidance, the mobile robot can avoid the collision with obstacles and move to the destination point. To demonstrate the effectiveness and applicability, it is applied to the robot soccer. Simulations and real experiments ascertain the merits of the proposed method.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.26 no.12
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• pp.2678-2686
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• 2002

A novel approach is developed for avoidance of obstacles in unknown environment. This paper proposes a new way of intelligent autonomous wheelchairs for the handicapped to move safely and comfortably. It is the objective of this paper to develop delayed time fuzzy control algorithms to deal with various obstacles. This new algorithm gives the benefit of the collision free movement in real time and optimal path to the moving target. The computer simulations and the experiments are demonstrated to the effect of the suggested control method.

• 제어로봇시스템학회:학술대회논문집
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• 2000.10a
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• pp.415-415
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• 2000

The functions of a mobile robot such as obstacle knowledge and collision avoidance for in-door cleaning are necessary features, as has been much studied in the field of industrial automatic guided vehicle or general mobile robot. A mobile robot, in order to avoid collision with obstacles, has to gather data with environment knowledge sensors and recognize environment and the shape of obstacles from the data. In the study, a wall-following algorithm was suggested as a autonomous moving algorithm in which a mobile robot can recognize obstacles in indoor like environment and do cleaning work in effect. The system suggested in the study is for cleaning of nuclear material dusts generated in the process of nuclear fuel manufacturing and decontamination of devices in disorder which is performed in M6 radioactive ray shield hot-cell in IMEF(Irradiated Material Examination Facility) in the Korea Atomic Energy Research Institute.

• Transactions of the Korean Society of Automotive Engineers
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• v.15 no.3
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• pp.1-9
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• 2007

A major concern for Autonomous Military Robot in the rough terrain is the problem of moving robot from an initial configuration to goal configuration. In this paper, We generate a local path to looking for the best route to move an goal configuration while avoiding known obstacle from world model, not violating the mobility constraints of robot. Trough a Simulator for Unmanned Autonomous Vehicle, We can simulate a traversability of unmanned autonomous vehicle based on steering, acceleration, braking command obtained from local path planning.

• Proceedings of the IEEK Conference
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• 2006.06a
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• pp.137-138
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• 2006

NEMO(Network MObility) is a complex model of mobile network which refers to a forming of Nested Mobile Network by a moving transportation like vessel, bus, or a train which then moves a Mobile Node, or by a movement of a PAN(Personal Area Network). In a Nested NEMO, pinball routing is the primary obstacle as exemplified by the IPv6 environment. This paper will focus on improving such models as RRH, RBU+ and MANET Approach, that attempted to solve pinball routing by route optimization.

• Proceedings of the IEEK Conference
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• 2006.06a
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• pp.943-944
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• 2006

In this paper, we implemented the autonomous mobile robot which can recognize and avoid obstacles, then move to its destination using a camera and ultrasonic sensors. The mobile robot can avoid both stationary obstacles with a camera and moving obstacles with ultrasonic sensors. It can find the self-location with the map-based system, that is, it attempts to localize by collecting sensor data, then updating some belief about its position with respect to a map of the environment.

• Proceedings of the KIEE Conference
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• 1998.07g
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• pp.2189-2192
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• 1998

The objective of this paper is, based upon the principles of artificial life, to induce emergent behaviors of multiple autonomous mobile robots which form from simple local rules to complex global intelligence. Here, we propose an architecture of neural network learing with reinforcement signals which perceives the neighborhood information and decides the direction and the velocity of movement as mobile robots navigates in a group. As results of the simulations, the optimum weights are obtained in real time, which not only prevent from the collisions between agents and obstacles in the dynamic environment, but also have the mobile robots move and keep in various patterns.

• Proceeding of EDISON Challenge
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• 2016.03a
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• pp.463-466
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• 2016

This study has designed a walking mechanism that is able to pass by a variety of environments, such as slope, obstructions, special surface in there, the mechanism suggested by Janssen has shown an ideal bridge structure made of 11 joints. V in the study, these programs are use that is m-sketch, m-designer, Janssen mechanism optimization solver for the optimum design of m-sketch, 3D component reflecting the given strip dimension is used because there is a limit in the given. As a result, a stable mechanism for walking could be implemented.

• Ocean Systems Engineering
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• v.2 no.4
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• pp.271-287
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• 2012

Due to its large size, a ship is first divided into scores of blocks and then each block is constructed through various shops, such as the assembly shop, the painting shop, and the outfitting shop. However, each block may not be directly moved to the next shop and may be temporarily laid at a block stockyard because the working time in each shop is different from each other. If blocks are laid at the block stockyard without any planning, the rearrangement of the blocks by a transporter is required because the blocks have the different in and out time. In this study, a block layout method based on the genetic algorithm was proposed in order to minimize the rearrangement of the blocks in the block stockyard. To evaluate the applicability of the proposed method, it was applied to simple layout problems of the block stockyard. The result shows that the proposed method can yield a block layout that minimizes the total relocation cost of moving obstacle blocks in the block stockyard.

• International Journal of Computer Science & Network Security
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• v.21 no.3
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• pp.165-171
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• 2021

Vehicular Ad hoc Network (VANET) is an extension paradigm of moving vehicles to communicate with wireless transmission devices within a certain geographical limit without any fixed infrastructure. The vehicles have most important participation in this model is usually positioned quite dimly within the certain radio range. Fuzzy based multi-hop broadcast protocol is better than conventional message dissemination techniques in high-mobility VANETs, is proposed in this research work. Generally, in a transmission range the existing number of nodes is obstacle for rebroadcasting that can be improved by reducing number of intermediate forwarding points. The proposed protocol stresses on transmission of emergency message projection by utilization subset of surrounding nodes with consideration of three metrics: inter-vehicle distance, node density and signal strength. The proposed protocol is fuzzy MHB. The method assessment is accomplished in OMNeT++, SUMO and MATLAB environment to prove the efficiency of it.