• 대한전기학회:학술대회논문집
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• 대한전기학회 2003년도 학술회의 논문집 정보 및 제어부문 A
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• pp.11-14
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• 2003

In this paper, we use Fuzzy Logic and Potential field method for optimal path planning of an autonomous mobile robot and apply to navigation for real-time mobile robot in 2D dynamic environment. For safe navigation of the robot, we use both Global and Local path planning. Global path planning is computed off-line using sell-decomposition and Dijkstra algorithm and Local path planning is computed on-line with sensor information using potential field method and Fuzzy Logic. We can get gravitation between two feature points and repulsive force between obstacle and robot through potential field. It is described as a summation of the result of repulsive force between obstacle and robot which is considered as an input through Fuzzy Logic and gravitation to a feature point. With this force, the robot fan get to desired target point safely and fast avoiding obstacles. We Implemented the proposed algorithm with Pioneer-DXE robot in this paper.

• 한국멀티미디어학회논문지
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• 제17권9호
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• pp.1104-1114
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• 2014

In large-scale crowd simulations, it is very important for the decision-making system of manipulating interactive behaviors to minimize the computational cost for controlling realistic behaviors such as collision avoidance. In this paper, we propose a large-scale realtime crowd simulation method using the affordance and navigation potential fields such as attractive and repulsive forces of electromagnetic fields. In particular, the model that we propose locally handles the realistic interactions between agents, and thus radically reduces the cost of expensive computation on interactions which has been the most problematic in crowd simulation. Our method is widely applicable to the expression and analysis of various crowd behaviors that are needed in behavior control in computer games, crowd scenes in movies, emergent behaviors of evacuation, etc.

• 한국자동차공학회논문집
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• 제19권4호
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• pp.8-15
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• 2011

This paper proposes a real-time navigation algorithm which integrates the artificial potential field (APF) for an unmanned vehicle in the unknown environment. This approach uses repulsive potential function around the obstacles to force the vehicle away and an attractive potential function around the goal to attract the vehicle. In this research, laser range finder is used as range sensor. An obstacle detected by the sensor creates repulsive vector. Differential global positioning system (DGPS) and digital compass are used to measure the current vehicle position and orientation. The measured vehicle position is also used to create attractive vector. This paper proposes a new concept of potential field based navigation which controls unmanned vehicle's speed and steering. The magnitude of repulsive force based on the proposed algorithm is designed not to be over the magnitude of attractive force while the magnitude is increased linearly as being closer to obstacle. Consequently, the vehicle experiences a generalized force toward the negative gradient of the total potential. This force drives the vehicle downhill towards its goal configuration until the vehicle reaches minimum potential and it stops. The effectiveness of the proposed APF for unmanned vehicle is verified through simulation and experiment.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2004년도 ICCAS
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• pp.690-693
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• 2004

This paper proposes a multi-resolution electrostatic potential field (MREPF) based solution to the mobile robot path planning and collision avoidance problem in 2D dynamic environment. The MREPF is an environment method in calculation time and updating field map. The large scale resolution map is added to EPF and this resolution map interacts with the small scale resolution map to find an optimal solution in real time. This approach can be interpreted with Atlantis model. The simulation studies show the efficiency of the proposed algorithm.

• 한국항해항만학회:학술대회논문집
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• 한국항해항만학회 2023년도 춘계학술대회
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• pp.265-266
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• 2023

With the development of science and technology, various research on ship collision avoidance has also developed rapidly. The research and development of ship collision avoidance technology has also received high attention from many researchers. This paper proposes a new collision avoidance algorithm for ships based on the artificial force field collision avoidance method. Using the simulation platform, the simulation results show that ships can successfully avoid collision in open water under single ship and multi ship situations, and the research results are relatively ideal.

• 한국지능시스템학회논문지
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• 제19권5호
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• pp.737-742
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• 2009

청소 로봇, 관광 안내 로봇부터 우주 탐사로봇까지 자율이동로봇의 응용분야가 넓어짐에 따라서 자율이동로봇의 인기는 급속도로 높아지고 있다. 하지만 동적인 환경 내에서 자율이동로봇의 안전한 네비게이션을 위한 만족스러운 제어 알고리즘은 여전히 연구 과제이다. 본 논문에서는 새로운 Potential field method를 이용한 제어 방법을 제안하였고, 컴퓨터 시뮬레이션을 통해 제안한 알고리즘을 실행하고 분석하였고, 이 실험 결과들로서 Potential field method를 사용한 행동(behavior)에 기반한 제어 시스템의 유효성을 나타내었다.

• International Journal of Fuzzy Logic and Intelligent Systems
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• 제9권4호
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• pp.315-320
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• 2009

The popularity of autonomous mobile robots have been rapidly increasing due to their new emerging application areas, from room cleaning, tourist guidance to space explorations. However, the development of a satisfactory control algorithm that will enable the autonomous mobile robots to navigate safely especially in dynamic environments is still an open research problem. In this paper, a newly proposed potential field based control method is implemented, analyzed, and improvements are suggested based on experimental results obtained from simulations. The experimental results are presented to show the effectiveness of the behavior-based control using the proposed potential field generation technique.

• 전기학회논문지
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• 제61권1호
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• pp.130-134
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• 2012

In this paper, we propose a space partitioning technique for swarm robots by using the Centroidal Voronoi Tessellation. The proposed method consists of two parts such as space partition and collision avoidance. The space partition for searching a given space is carried out by a density function which is generated by some accidents. The collision avoidance is implemented by the potential field method. Finally, the numerical experiments show the effectiveness and feasibility of the proposed method.

• 한국항행학회논문지
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• 제16권1호
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• pp.122-130
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• 2012

항공기 분리보증은 자유비행의 핵심요구사항이다. 본 논문에서는 위임권한 확대, 공역 효율성 문제 등 자유비행의 실증적 문제해결을 위해 자율형 운항 알고리즘을 제안하고, 제안된 알고리즘과 포텐셜 필드 알고리즘을 모델링하여 두 가지 조건의 시나리오 상황에서 항공기 성능 데이터를 활용, 알고리즘 성능 및 충돌해결과 운항 자율성 효과 등을 측정하였다. 실험결과 자유비행 공역 하에서 자율형 운항 알고리즘이 포텐셜 필드 알고리즘보다 알고리즘 성능, 충돌해결, 운항 자율성 효과 측면에서 우수하였다.

• 한국정밀공학회지
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• 제15권6호
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• pp.107-115
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• 1998

A path planning using potential field method is very useful for the real-time navigation of mobile robots. However, the method needs high modeling cost to calculate the potential field because of complex preprocessing, and mobile robots may get stuck into local minima. In this paper, An efficient path planning algorithm for multiple mobile robots, based on the potential field method, was proposed. In the algorithm. the concepts of subgoals and obstacle priority were introduced. The subgoals can be used to escape local minima, or to design and change the paths of mobile robots in the work space. In obstacle priority, all the objects (obstacles and mobile robots) in the work space have their own priorities, and the object having lower priority should avoid the objects having higher priority than it has. In this paper, first, potential based path planning method was introduced, next an efficient collision-avoidance algorithm for multiple mobile robots, moving in the obstacle environment, was proposed by using subgoals and obstacle priority. Finally, the developed algorithm was demonstrated graphically to show the usefulness of the algorithm.