• 전기학회논문지
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• 제60권11호
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• pp.2147-2151
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• 2011

In this paper, we propose the formation control algorithm for swarm robots. The proposed algorithm uses the artificial potential field(APF) to plan the global path of swarm robots and to control the formation movement. The navigation function generates a global APF for a leader robot to reach a given destination and an avoidance function generates a local APF for follow robots to avoid obstacles. Finally, some simulations show the validity of the proposed method.

• 한국항행학회논문지
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• 제16권4호
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• pp.657-664
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• 2012

용질분자를 용매를 통하여 전달시키는 기법중의 하나는 확산에 의한 것이다. 이러한 기전은 각개 용질분자의 열운동에 의한 것이다. 유체는 정지해 있는 상태로서 용질 전달의 핵심기전은 농도차에 의하여 결정된다. 인체 내에서 각종 하전 이온을 포함한 입자나 분자들은 체내의 농도차에 의해서 또는 외부 전계에 의해서 영향을 받아 고농도에서 저농도쪽으로 확산되어간다. 이러한 현상은 픽이 제안한 확산에 관한 제1법칙과 제2법칙에 의하여 정량적으로 전개할 수 있다. 본 논문에서는 체내의 물질이 확산되는 과정을 픽의 법칙을 이용하여 해석하고 그것을 실례를 통하여 구현하였다. 각 시간별 공간상의 확산현상에서 확산계수가 클 때는 시간이 경과함에 따라 발생지점의 농도는 현저히 낮아지고 그 농도가 주위로 급속히 확산되어감을 알 수 있었다. 그러나 어느 정도의 시간이 경과되면 그 농도의 감소는 매우 약해진다.

• 로봇학회논문지
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• 제6권3호
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• pp.237-246
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• 2011

Robots have been used in many fields due to its performance improvement and variety of its functionality, to the extent which robots can replace human tasks. Individual feature and better performance of robots are expected and required to be created. As their performances and functions have increased, systems have gotten more complicated. Multi mobile robots can perform complex tasks with simple robot system and algorithm. But multi mobile robots face much more complex driving problem than singular driving. To solve the problem, in this study, driving algorithm based on the energy method is applied to the individual robot in a group. This makes a cluster be in a formation automatically and suggests a cluster the automatic driving method so that they stably arrive at the target. The energy method mentioned above is applying attractive force and repulsive force to a special target, other robots or obstacles. This creates the potential energy, and the robot is controlled to drive in the direction of decreasing energy, which basically satisfies lyapunov function. Through this method, a cluster robot is able to create a formation and stably arrives at its target.

• Journal of Electrical Engineering and Technology
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• 제12권2호
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• pp.890-903
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• 2017

The problem of determining a smooth and collision-free path with maximum possible speed for a Mobile Robot (MR) which is chasing a moving target in a dynamic environment is addressed in this paper. Genetic Network Programming with Reinforcement Learning (GNP-RL) has several important features over other evolutionary algorithms such as it combines offline and online learning on the one hand, and it combines diversified and intensified search on the other hand, but it was used in solving the problem of MR navigation in static environment only. This paper presents GNP-RL based on predicting collision positions as a first attempt to apply it for MR navigation in dynamic environment. The combination between features of the proposed collision prediction and that of GNP-RL provides safe navigation (effective obstacle avoidance) in dynamic environment, smooth movement, and reducing the obstacle avoidance latency time. Simulation in dynamic environment is used to evaluate the performance of collision prediction based GNP-RL compared with that of two state-of-the art navigation approaches, namely, Q-Learning (QL) and Artificial Potential Field (APF). The simulation results show that the proposed GNP-RL outperforms both QL and APF in terms of smooth movement and safer navigation. In addition, it outperforms APF in terms of preserving maximum possible speed during obstacle avoidance.

• 전기학회논문지
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• 제56권7호
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• pp.1302-1308
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• 2007

In this paper, a real-time collision avoidance algorithm is proposed for experimental Autonomous Vehicle(XAV). To ensure real-time implementation, a virtual potential field is calculated in one dimensional space. The attractive force is generated by the steering command either transmitted in the remote control station or calculated in the Autonomous Navigation System(ANS) of the XAV. The repulsive force is generated by obstacle information obtained from Laser Range Finder(LRF) mounted on the XAV. Using these attractive and repulsive forces, modified steering, velocity and emergency stop commands are created to avoid obstacles and follow a planned path. The suggested algorithm is inserted as one component in the XAV system. Through various real experiments and technical demonstration using the XAV, the usefulness and practicality of the proposed algorithm are verified.

• 한국항해학회지
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• 제22권1호
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• pp.23-30
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• 1998

Traffic density has increased recently in Korean waters due to an expansion of the sea trade and the development of coastal fisheries. The enlargement of the coastal industrial belts and the development of coastal inslands further increases marine traffic. The rapid increase of marine traffic has often resulted in marine casualties with the attendant loss of life, damage to property, and marine pollution. Especially, tanker casualties may destroyed the food web and an untold amount of ocean resources. Un regard to the potential of tanker spills in Korean waters, systematic research in this field is lacking. In this paper, the data relating to a total of 261 tanker casualties in Korean waters has been compiled and statistically anlaysed. The result of this study describes the general trend of marine casualties in Korean waters, and describes the casualtiy database, from which their causes and consequences are derived and this results in the determination of the causal relationships connected to tanker casualties, and quantifies the effective level of causal factorsin Korean waters.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2001년도 춘계학술대회 논문집
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• pp.540-544
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• 2001

This paper addresses a hybrid control architecture for the hospital service robot, SmartHelper. In hybrid architecture, the deliberation takes place at planning layer while the reaction is dealt through the parallel execution of operations. Hence, the system presents both a hierarchical and an heterarchical decomposition, being able to show a predictable response while keeping rapid reactivity to the dynamic environment. The deliberative controller accomplishes four functions which are path generation, selection of navigation way, command and monitoring. The reactive controller uses fuzzy and potential field method for robot navigation. Through simulation under a virtual environment IGRIP, the effectiveness of the hybrid architecture is verified.

• 한국항해학회지
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• 제21권1호
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• pp.89-102
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• 1997

Since 1979, the People's Republic of China has been opeining their marke tprogressively toward all over the world for developing its own domestic economy and international trade. China also has paid a great attention to the international maritime transport due to the fact that its volume of international trade has increased continuoulsy. Under such circumstance, the Chinese Maritime Code was issued in 1992 in which the regulation with regard to carrier's liability occupied an important position. The author, therefore, selected this issue for demonstration of the legal proinciples about carrier's liability which is provided in the Chinese Maritime Code. The study on the issue is under guidance of related international conventions. On the basis of the above, the differences between the Code and relevant conventions have been pointed out in order to make the people in the field of shipping understood for legal system with regard to carrier's liability in China which is a great potential partner of Korea in shipping and trade.

• International Journal of Control, Automation, and Systems
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• 제2권4호
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• pp.485-493
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• 2004

Open-loop position estimation methods are commonly used in mobile robot applications. Their strength lies in the speed and simplicity with which an estimated position is determined. However, these methods can lead to inaccurate or unreliable estimates. Two position estimation methods are developed in this paper, one using a single optical flow sensor and a second using two optical sensors. The first method can accurately estimate position under ideal conditions and also when wheel slip perpendicular to the axis of the wheel occurs. The second method can accurately estimate position even when wheel slip parallel to the axis of the wheel occurs. Location of the sensors is investigated in order to minimize errors caused by inaccurate sensor readings. Finally, a method is implemented and tested using a potential field based navigation scheme. Estimates of position were found to be as accurate as dead-reckoning in ideal conditions and much more accurate in cases where wheel slip occurs.

• 대한기계학회:학술대회논문집
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• 대한기계학회 2001년도 춘계학술대회논문집B
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• pp.325-329
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• 2001

This paper addresses a control architecture for the hospital service robot, SmartHelper. With a sensing-reasoning-acting paradigm, the deliberation takes place at planning layer while the reaction is dealt through the parallel execution of operations. Hence, the system presents both a hierarchical and an heterarchical decomposition, being able to show a predictable response while keeping rapid reactivity to the dynamic environment. The deliberative controller accomplishes four functions which are path generation, selection of navigation way, command and monitoring. The reactive controller uses fuzzy and potential field method for robot navigation. Through simulation under a virtual environment IGRIP, the effectiveness of the control architecture is verified.