• 대한전기학회:학술대회논문집
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• 대한전기학회 2006년 학술대회 논문집 정보 및 제어부문
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• pp.551-553
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• 2006

An autonomous navigation technology for the mobile robot is investigated in this paper. The proposed robot path planning algorithm employs the dynamic programming to find the optimal path. The algorithm finds the global optimal path through the local computation on the environmental map. Since the robot computes the new path at every point, it can avoid the obstacle successfully during the navigation. The experimental results of the robot navigation are included in this paper.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2001년도 ICCAS
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• pp.138.5-138
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• 2001

The autonomous robot has the ability of obstacle avoidance and target tracking with some manufactured information. In this paper, it is shown that autonomous mobile robot can avoid fixed obstacles using the map made before and the fuzzy controller is adopted with the global path planing and the local path planing when the robot navigates. With that map sensor, information will be used when an autonomous robot navigates. This paper proves that robot can navigate through optimized route and keep the stable condition.

• 대한전기학회논문지:전력기술부문A
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• 제48권7호
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• pp.889-897
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• 1999

In this paper, we propose a new method of path planning for autonomous mobile robot in mapped circumstance. To search the optimal path, we adopt the genetic algorithm which is based on the natural mechanics of selection, crossover and mutation. We propose a method for generating the path population, selection and evaluation in genetic algorithm. Simulations show the efficiency for the global path planning, if we adopt the proposed GA method

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 1997년도 춘계학술대회 논문집
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• pp.25-29
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• 1997

In this thesis, we construct the microrobot succor system and navigate the real-time path planning and visual tracking of each robot. The system consists robots, vision system and a host computer. Because the robots are free-ranging mobile robot, it is needed to make and gallow the path. The path is planned and controlled by a host computer, ie. Supervisory control system. In path planning, we suggest a cost function which consists of three terms. One is the smoothness of the path, another is the total distance or time, and the last one is to avoid obstacles. To minimize the cost function, we choose the parametric cubic spline and update the coefficients in real time. We perform the simulation for the path planing and obstacle avoidance and real experiment for visual tracking

• Journal of Mechanical Science and Technology
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• 제17권12호
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• pp.1876-1885
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• 2003

The artificial potential field (APF) methods provide simple and efficient motion planners for practical purposes. However, these methods have a local minimum problem, which can trap an object before reaching its goal. The local minimum problem is sometimes inevitable when an object moves in unknown environments, because the object cannot predict local minima before it detects obstacles forming the local minima. The avoidance of local minima has been an active research topic in the potential field based path planing. In this study, we propose a new concept using a virtual obstacle to escape local minima that occur in local path planning. A virtual obstacle is located around local minima to repel an object from local minima. We also propose the discrete modeling method for the modeling of arbitrary shaped objects used in this approach. This modeling method is adaptable for real-time path planning because it is reliable and provides lower complexity.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 1997년도 추계학술대회 논문집
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• pp.519-522
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• 1997

In this study, the collision free path planning method of the articulated manipulator using sequential search is proposed. This method is to find the joint path of the manipulator with many degrees of freedom from the distal joint to the proximal one. To do this, the initial work space of the gantry manipulator, which is a remote maintenance equipment of the radioactive environment, is defined from the condition that the distal joint configuration is determined by the posture of maintenance. Then, 2-dimensional configuration space with the obstacle area is represented and the collision free path of manipulator is searched in the configuration space. And, this method is verified using the graphic simulation in virtual workcell for the spent fuel disassembling processes. The result of this study can be effectively used in implementing the maintenance processes for the hot cell equipment and enhance the reliability of the spent fuel management.

• 대한전기학회:학술대회논문집
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• 대한전기학회 1999년도 추계학술대회 논문집 학회본부 B
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• pp.606-608
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• 1999

본 논문에서는 이동 로봇의 유연하고 짧은 경로 계획을 위하여 기존의 그리드 셀(grid cell)로 구성되는 지도 대신에 삼각형을 이용하여 지도를 구성하는 새로운 방법을 제안한다. 기존의 그리드 셀로 구성되는 지도의 경우 이동 로봇가 현재 셀에서 다음 셀로 진행시 진행 방향이 8 방향이나, 본 논문에서 제안한 방법에 의해 구성된 새로운 지도는 셀을 삼각형으로 표현함으로써, 이동 로봇의 진행 방향이 12 방향이 된다. 이와 같이 이동 로봇의 진행 방향이 증가한다는 것은 이동 로봇이 더욱 유연하게 장애물을 회피하며 더욱 짧은 경로로 주행할 수 있는 가능성을 의미한다. 한편, 본 논문에서 제안한 삼각형 지도 작성 방법의 효율성을 기존의 그리드 셀을 이용한 경로 계획 알고리즘인 거리 변환(path transform) 경로 계획을 통하여 증명한다. 또한 새로운 삼각형 지도 구성이 메모리의 효율성 위해 이동 로봇의 주행 환경을 장애물이 비어있는 공간을 가능한 하나의 셀로 병합하는 4진트리 방법(quadtree method)에도 적용 가능함을 보인다.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2000년도 하계학술대회 논문집 D
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• pp.2837-2839
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• 2000

We design a stable controller for a mobile robot with variable gains and reference velocity in order to apply the proper gains and reference velocity, which are generated with fuzzy logic in on-line. The stability is guranteed by the Lyapunov theory. The fuzzy logic rules is found in off-line with GA strategy which drives each object function to be the least. The proposed controller is applied smooth path tracking due to the local path planing. Simulation results show robust performances under a different initial conditions.

• 한국정보통신설비학회:학술대회논문집
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• 한국정보통신설비학회 2008년도 정보통신설비 학술대회
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• pp.181-185
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• 2008

Recently, location based service(LBS) expended based on personal specialized service, however since commercialized GPS based emergency rescue service comes with shadow zone for GPS signal such as inside building, the accuracy and reliability are not guaranteed. Therefore to improve such problem, we propose an active location detecting algorithm using RFID-TAG and Yagiantenna. To track the location of RFID-TAG where signal is generated, location tracking device in which Yagi-Antenna is installed moves around. Since directed wave and reflected wave co-exist during signal reception, final signal generated location is searched by setting up multiple of locations where signal can be generated on the map and moving location tracking device along minimum length of path. The algorithm proposed in this paper was verified of its technical validity through simulator.

• 대한토목학회논문집
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• 제32권3D호
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• pp.259-267
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• 2012

건설자동화 시스템 개발은 건설업이 당면하고 있는 여러 가지 어려움을 해결하고 급변하고 있는 건설환경을 위한 대응책으로 설득력 있는 해결책 중의 한가지로 제안되고 있다. 2006년부터 지능형 굴삭시스템 개발을 위한 연구가 진행되었다. 지능형 굴삭시스템은 작업환경 센싱, 3D 모델링, 작업계획, 작업경로계획, 무인조정 및 정보관리를 위한 다양한 기능을 갖고 있다. 본 논문에서는 지능형 굴삭시스템을 실제 현장에 적용하기 위하여 필요한 요소기술 중의 하나인 작업계획 및 작업경로계획 기능구현을 위한 공간정보모델과 작업경로 시뮬레이터를 제시하고자 한다. 기존의 자료구조인 쿼드트리나 옥트리 구조가 갖고 있는 단점을 보완하기 위하여 토공작업을 위한 새로운 자료구조를 제시하였다. 작업경로 시뮬레이터는 작업환경에 관한 정보, 토공장비에 관한 정보를 제공하며 작업자의 휴리스틱을 고려하여 효과적인 작업경로를 생성할 수 있다. 시뮬레이터에 의하여 생성된 작업경로와 굴삭기 운전자가 제안하고 있는 작업경로를 서로 비교하였다.