• International Journal of Fuzzy Logic and Intelligent Systems
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• v.10 no.3
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• pp.210-217
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• 2010

This paper presents integrated path planning and collision avoidance for an omni-directional mobile robot. In this scheme, the autonomous mobile robot finds the shortest path by the descendent gradient of a navigation function to reach a goal. In doing so, the robot based on the proposed approach attempts to overcome some of the typical problems that may pose to the conventional robot navigation. In particular, this paper presents a set of analysis for an omni-directional mobile robot to avoid trapped situations for two representative scenarios: 1) Ushaped deep narrow obstacle and 2) narrow passage problem between two obstacles. The proposed navigation scheme eliminates the nonfeasible area for the two cases by the help of the descendent gradient of the navigation function and the characteristics of an omni-directional mobile robot. The simulation results show that the proposed navigation scheme can effectively construct a path-planning system in the capability of reaching a goal and avoiding obstacles despite possible trapped situations under uncertain world knowledge.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2002.10a
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• pp.554-557
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• 2002

This paper describes power potential field method for the collision-free path planning of stereo-vision based mobile robot. Area based stereo matching is performed for obstacle detection in uncertain environment. The repulsive potential is constructed by distributing source points discretely and evenly on the boundaries of obstacles and superposing the power potential which is defined so that the source potential will have more influence on the robot than the sink potential when the robot is near to source point. The mobile robot approaches the goal point by moving the robot directly in negative gradient direction of the main potential. We have investigated the possibility of power potential method for the collision-free path planning of mobile robot through various experiments.

• Proceedings of the KIEE Conference
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• 1996.07b
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• pp.1251-1253
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• 1996

The vision processing system for mobile robots requires real time processing and reliability for the purpose of safe navigation. But, general types of vision systems are not appropriate owing to the correspondence problem which correlates the points out of two images. To determine the obstacle area, we use correspondences of line segments between two perspective images sequentially acquired by camera. To simplify the correspondence, the matching of line segments are performed in the navigation space, based on the assumption that mobile robot should be navigated in the flat surface and the motion of mobile robot between two frames should be approximately known.

• International Journal of Naval Architecture and Ocean Engineering
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• v.11 no.1
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• pp.202-210
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• 2019

The obstacles modeling is a fundamental and significant issue for path planning and automatic navigation of Unmanned Surface Vehicle (USV). In this study, we propose a novel obstacles modeling method based on high resolution satellite images. It involves two main steps: extraction of obstacle features and construction of convex hulls. To extract the obstacle features, a series of operations such as sea-land segmentation, obstacles details enhancement, and morphological transformations are applied. Furthermore, an efficient algorithm is proposed to mask the obstacles into convex hulls, which mainly includes the cluster analysis of obstacles area and the determination rules of edge points. Experimental results demonstrate that the models achieved by the proposed method and the manual have high similarity. As an application, the model is used to find the optimal path for USV. The study shows that the obstacles modeling method is feasible, and it can be applied to USV path planning.

• Proceedings of the Korean Society of Computer Information Conference
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• 2023.07a
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• pp.287-289
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• 2023

본 논문에서는 무인주행로봇에 적용할 수 있는 장애물 탐지 및 주행지역 이탈을 관리하는 시스템을 제안한다. 제안 시스템은 웹캠과 같은 일반적인 카메라를 활용하여 촬영되는 공간에서 무인주행로봇을 운용할 영역을 선정하고 운용영역내의 장애물 발생 여부를 판단한다. 제안 시스템은 카메라 위치 기준으로 촬영되는 버드뷰에서 무인주행로봇의 운용영역을 설정하고 탐지된 장애물의 정보를 제공하여 무인주행로봇의 주행에 있어 안전하고 효율적인 주행 기능을 제공할 수 있을 것으로 기대한다.

• Journal of the Korean Institute of Intelligent Systems
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• v.21 no.1
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• pp.36-41
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• 2011

Configuration space(C-space) including configuration obstacle(C-obstacle) is one of the most important concepts in mobile robot path planning. Using C-space and C-obstacles, the robot with different shapes and moving mechanisms can be considered as a point in the C-space. And, as a result, the collision-free path for the robot can be easily achieved. To make C-space including C-obstacle, many researchers used circular approximation method for the efficient caluculation time. This method can help us to save our time by approximating the shape of a robot as the minimum sized circle which can cover all the area of robot. But, by using the circle larger than the robot, more space are considered as the part of robot and, as a result, some obstacles which are very near each other may be considered as a combined one obstacle. To solve this problem, multi-level configuration space is proposed by this paper. This multi-level method also use the circular approximation method as the initial step. But, after finding the initial path, it will check how many obstacles are combined. And then, for each combined obstacle, more accurate C-space generation will be continued. To check the efficiency of the proposed algorithm, time for c-space generation are compared with the well-known accurate C-space generation method using various types of robot shape.

• Journal of the Korean Society of Safety
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• v.26 no.2
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• pp.32-35
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• 2011

Experimental studies were carried out in an explosion chamber to investigate the influences of multiple cylinder obstacles on local flame propagation. The chamber dimension is 235 mm in height with a $1,000{\times}950\;mm^2$ rectangular cross section and a large vent area of $1,000{\times}320\;mm^2$. Multiple cylinder bars with obstruction ratio of 30% were used. In order to examine the interaction between the propagating flames and the obstacles, temporally resolved flame front images were recorded by a high speed video camera. The propagation behaviour of local flame fronts around the left obstacle was analyzed in terms of two different methods such as the incremental burnt area divided by the flame front length and the average of the local propagation velocity determined at each point along the flame front. It was found that two methods give good consistency.

• Journal of Korean Society of Forest Science
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• v.102 no.2
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• pp.216-222
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• 2013

For reducing greenhouse gases, many countries carried out a series of activities not only at home but abroad. Particularly, after the release of the Kyoto Protocol, either nation or companies' participation was intensified, due to endow to responsibility of emission limits. This study focused on reforestation CDM work in Goseong Gun based on clean development system. Obstacle factors of land eligibility could be distinguished to three periods: before December 31th 1989, present and future. The obstacle before December 31th 1989 was that land cover of study area hardly illustrated by Landsat image, due to the low resolution, which were confirmed by a document of Grassland Composition Permission instead. The problem of current land eligibility is that the area of trees presence are difficult to be determined as forest or not. The boundary of forest in strata was identified, using 3-Dimensional Cartography Machine and aerial photograph. Land eligibility would still have obstacle whether the study area with trees presence has potentiality to be forest in the future at situation in absence of reforestation project. This was resolved by prediction of tree growth using stem analysis during execution of the project at study area.

• 재활복지
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• v.17 no.4
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• pp.383-399
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• 2013

The purpose of this study was to comparison the effects of aqua-and-land based obstacle training on balance of chronic stroke patients. Subjects were randomly divided into an aqua group(n=15) and d land group(n=15). Both group received obstacle training for 40 minutes, 3 times a week during 12 weeks. Static balance was assessed by measuring the mean velocity of mediolateral, anteroposterior and sway area with the eyes open using Good Balance System. Dynamic balance was assessed by measuring Functional Reaching Test(FRT) and the Timed Up and Go test(TUG). Following the intervention, both groups showed significant changes static balance(the mean velocity of mediolateral, anteroposterior and sway area) and dynamic balance(FRT and TUG). There were significant difference in the mean velocity of mediolateral, anteroposterior, sway area, FRT and TUG between the two groups after the interventions. The results of this study suggest that the aqua group and land group were increase balance functions of chronic stroke patients. The aqua group was significantly higher than the land group for patients with chronic stroke patients. We hope that aquatic training can be useful for patients with chronic stroke patients to improve balance functions and the aqua training research for improve balance functions will be conducted continuously.

• Journal of Educational Research in Mathematics
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• v.20 no.3
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• pp.305-322
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• 2010

The epistemological obstacles in the area learning of plane figure can be categorized into two types that is closely related to an attribute of measurement and is strongly connected with unit square. First, reasons for the obstacle related to an attribute of measurement are that 'area' is in conflict. with 'length' and the definition of 'plane figure' is not accordance with that of 'measurement'. Second, the causes of epistemological obstacles related to unit square are that unit square is not a basic unit to students and students have little understanding of the conception of the two dimensions. Thus, To overcome the obstacle related to an attribute of measurement, students must be able to distinguish between 'area' and 'length' through a variety of measurement activities. And, the definition of area needs to be redefined with the conception of measurement. Also, the textbook should make it possible to help students to induce the formula with the conception of 'array' and facilitate the application of formula in an integrated way. Meanwhile, To overcome obstacles related to unit square, authentic subject matter of real life and the various shapes of area need to be introduced in order for students to practice sufficient activities of each measure stage. Furthermore, teachers should seek for the pedagogical ways such as concrete manipulable activities to help them to grasp the continuous feature of the conception of area. Finally, it must be study on epistemological obstacles for good understanding. As present the cause and the teaching implication of epistemological obstacles through the research of epistemological obstacles, it must be solved.