• 제목/요약/키워드: Path Generation

검색결과 829건 처리시간 0.031초

STL offset을 이용한 다이레스 CNC 포밍용 등고선 공구경로 생성 (Contouring Tool Path Generation for Dieless CNC Forming using STL Offset)

  • 강재관;최동우
    • 한국정밀공학회지
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    • 제23권2호
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    • pp.191-198
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    • 2006
  • Dieless CNC forming is an innovative technology which can form various materials with complex shape by numerically controlled incremental forming process. In this paper, a method of NC tool path generation based on an STL file for dieless CNC forming is proposed. Tool trajectory adopts the principle of layered manufacturing in rapid prototyping technology, but it is necessary to consider STL offset because of the ball shaped tool with a radius. Vertex offset method which enables to compute offset STL directly is engaged for STL offset. The offseted STL is sliced by cutting planes to generate contouring tool path. Algorithm is implemented on a computer and experimented on a dieless CNC forming machine to show its validity.

3축 그라인딩 로봇을 이용한 자동 경로 생성 및 능동 컴플라이언스 힘 제어 (Auto Path Generation and Active Compliance Force Control Using 3-axis Grinding Robot)

  • 추정훈;김수호;이상범;김정민
    • 제어로봇시스템학회논문지
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    • 제12권11호
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    • pp.1088-1094
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    • 2006
  • In this paper, an auto path generation and an active compliance grinding control using 3-axis farce sensor are presented. These control algorithms enable the grinding robot to follow unknown path of various workpiece shape pattern. The robot is able to go grinding along unknown paths by position controller managing tangential direction angle and cutting speed, with only information about the start position and the end position. Magnitude and direction of normal force are calculated using force data that go through low pass filter. Moreover, normal and tangential directions are separated for force control and velocity control, respectively.

과수원 환경에서의 방제기 무인주행 기술 개발 (Development of Unmanned Driving Technologies for Speed Sprayer in Orchard Environment)

  • 이송;강동엽;이혜민;안수용;권우경;정윤수
    • 대한임베디드공학회논문지
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    • 제15권6호
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    • pp.269-279
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    • 2020
  • This paper presents the design and implementation of embedded systems and autonomous path generation for autonomous speed sprayer. Autonomous Orchard Systems can be divided into embedded controller and path generation module. Embedded controller receives analog sensor data, on/off switch data and control linear actuator, break, clutch and steering module. In path generation part, we get 3D cloud point using Velodyne VLP16 LIDAR sensor and process the point cloud to generate maps, do localization, generate driving path. Then, it finally generates velocity and rotation angle in real time, and sends the data to embedded controller. Embedded controller controls steering wheel based on the received data. The developed autonomous speed sprayer is verified in test-bed with apple tree-shaped artworks.

임무유형과 다중 격자지도 기반의 임무지향적 전역경로 생성 연구 (Mission Oriented Global Path Generation for Unmanned Combat Vehicle Based on the Mission Type and Multiple Grid Maps)

  • 이호주;이영일;이명천
    • 한국군사과학기술학회지
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    • 제13권2호
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    • pp.180-187
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    • 2010
  • In this paper, a global path generation method is suggested using multiple grid maps connected with the mission type of unmanned combat vehicle(UCV). In order to carry out a mission for UCV, it is essential to find a global path which is coincident with the characteristics of the mission. This can be done by considering various combat circumstances represented as grid maps such as velocity map, threat map and communication map. Cost functions of multiple grid maps are linearly combined and normalized to them simultaneously for the path generation. The proposed method is realized using $A^*$, a well known search algorithm, and cost functions are normalized in the ratio of the traverse time which is one of critical information should be provided with the operators using the velocity map. By the experiments, it is checked found global paths match with the mission type by reflecting input data of grid maps properly and the computation time is short enough to regenerate paths in real time as combat circumstances change.

복합적인 실내 환경 내 신뢰성 있는 자율 비행을 위한 3차원 장애물 지도 생성 및 경로 계획 알고리즘 (3D Costmap Generation and Path Planning for Reliable Autonomous Flight in Complex Indoor Environments)

  • 김보성;이승욱;박재용;심현철
    • 로봇학회논문지
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    • 제18권3호
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    • pp.337-345
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    • 2023
  • In this paper, we propose a 3D LiDAR sensor-based costmap generation and path planning algorithm using it for reliable autonomous flight in complex indoor environments. 3D path planning is essential for reliable operation of UAVs. However, existing grid search-based or random sampling-based path planning algorithms in 3D space require a large amount of computation, and UAVs with weight constraints require reliable path planning results in real time. To solve this problem, we propose a method that divides a 3D space into several 2D spaces and a path planning algorithm that considers the distance to obstacles within each space. Among the paths generated in each space, the final path (Best path) that the UAV will follow is determined through the proposed objective function, and for this purpose, we consider the rotation angle of the 2D space, the path length, and the previous best path information. The proposed methods have been verified through autonomous flight of UAVs in real environments, and shows reliable obstacle avoidance performance in various complex environments.

도로 네트워크 환경에서 사용자의 이동 성향을 고려한 경로 생성 기법 (A Path Planning Scheme Using the Moving Tendencies of Users in Road Network Environments)

  • 황동교;박혁;김동주;리하;박준호;박용훈;복경수;유재수
    • 한국콘텐츠학회논문지
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    • 제12권9호
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    • pp.16-26
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    • 2012
  • 사용자들은 시간, 거리, 도로 혼잡도와 같은 속성들에 의해 선호하는 경로가 있기 때문에 사용자의 이동 성향에 맞는 경로를 생성하는 기법들이 필요하다. 기존의 기법들은 이동 성향을 고려하여 경로를 생성하기 위해서는 사용자의 이동 성향 정보를 추가적으로 입력하여야 한다. 그러나 네비게이션 및 모바일 장치의 불편한 인터페이스 특성상 이러한 정보 입력은 거의 하지 않고 출발지와 목적지만을 입력하여 경로를 추천받는 경향이 있다. 본 논문에서는 추가적인 이동 성향에 대한 정보 입력 없이 이동 성향에 맞는 경로를 생성하는 기법을 제안한다. 성능평가를 통해 최소 시간 경로나 최단 거리 경로와 비교하여 제안하는 기법이 사용자의 이동 성향을 고려한 경로가 생성됨을 입증한다.

강화학습을 이용한 무인 자율주행 차량의 지역경로 생성 기법 (Local Path Generation Method for Unmanned Autonomous Vehicles Using Reinforcement Learning)

  • 김문종;최기창;오병화;양지훈
    • 정보처리학회논문지:소프트웨어 및 데이터공학
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    • 제3권9호
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    • pp.369-374
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    • 2014
  • 무인 자율주행 차량에서의 경로 생성 기법은 차량이 자동적으로 안전하고 효율적인 경로를 생성하고 주행할 수 있도록 해 준다. 경로에는 크게 전역경로와 지역경로가 있다. 전역경로는 차량이 출발점으로부터 도착점까지 가기 위해 주행해야 하는 구간을, 지역경로는 전역경로에서 얻은 구간을 주행하기 위해서 차량이 실제로 주행해야 할 경로를 의미한다. 본 논문에서는 지역경로 생성을 위하여 효율성 높은 곡선 함수를 사용하는 기존연구에서 더 나아가 학습을 통해 경로를 생성하는 방법을 제안한다. 먼저 강화학습을 통해서 후보경로에 대한 예측 보상 값을 얻고 보상 값이 최고가 되는 경로를 찾는 작업을 한다. 또한 인공 신경망을 통해서는 생성된 경로에 최적화된 조향 명령을 주기 위해 조향 각을 학습하는 작업을 한다. 더 나아가 주행하는 경로에 장애물이 발견되더라도 이를 효율적으로 회피하는 최적의 경로를 학습 기법을 통해 만들어낸다. 본 논문에서 제안된 알고리즘의 우수성은 실제 주행 환경으로 모델링한 시뮬레이션 실험을 통해 검증되었다.

CL면 변형 방법을 이용한 균일한 조도의 공구 경로 생성 (Uniform Scallop Height Tool Path Generation Using CL Surface Deformation)

  • 양민양;김수진
    • 대한기계학회논문집A
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    • 제29권6호
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    • pp.895-903
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    • 2005
  • In this paper, we present a cutter location (CL) surface deformation approach for constant scallop height tool path generation from triangular mesh. The triangular mesh model of the stereo lithography (STL) format is offset to the CL surface and then deformed in accordance with the deformation vectors, which are computed by the slope and the curvature of the CL surface. In addition, the tool path which is computed by slicing the deformed CL surface is inversely deformed by those same deformation vectors to a tool path with a constant scallop height. The proposed method is implemented, and a tool path generated by the proposed method is tested by simulation and by numerical control (NC) machining. The scallop height was found to be constant over the entire machined surface, demonstrating much better quality than that of mesh slicing, under the same constraints for machining time.

Distributed Optimal Path Generation Based on Delayed Routing in Smart Camera Networks

  • Zhang, Yaying;Lu, Wangyan;Sun, Yuanhui
    • KSII Transactions on Internet and Information Systems (TIIS)
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    • 제10권7호
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    • pp.3100-3116
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    • 2016
  • With the rapid development of urban traffic system and fast increasing of vehicle numbers, the traditional centralized ways to generate the source-destination shortest path in terms of travel time(the optimal path) encounter several problems, such as high server pressure, low query efficiency, roads state without in-time updating. With the widespread use of smart cameras in the urban traffic and surveillance system, this paper maps the optimal path finding problem in the dynamic road network to the shortest routing problem in the smart camera networks. The proposed distributed optimal path generation algorithm employs the delay routing and caching mechanism. Real-time route update is also presented to adapt to the dynamic road network. The test result shows that this algorithm has advantages in both query time and query packet numbers.