• 제어로봇시스템학회논문지
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• 제15권1호
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• pp.105-110
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• 2009

In this paper, we proposed a navigation algorithm of the mobile robot for obstacle avoidance using a circular path planning method. The proposed method makes circular paths in order to avoid obstacles in the front side of the mobile robot. An optimal path for approaching to the target is selected and the linear and angular speeds for stable moving of the mobile robot are controlled. Obstacles are detected by image processing which reduce image data obtained from a web camera. Performance of the proposed algorithm is shown by experiments with application to the Pioneer-2DX mobile robot.

• 제어로봇시스템학회논문지
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• 제17권5호
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• pp.471-478
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• 2011

This UGV (Unmanned Ground Vehicle) is not only widely used in various practical applications but is also currently being researched in many disciplines. In particular, obstacle avoidance is considered one of the most important technologies in the navigation of an unmanned vehicle. In this paper, we introduce a simple algorithm for path planning in order to reach a destination while avoiding a polygonal-shaped static obstacle. To effectively avoid such an obstacle, a path planned near the obstacle is much shorter than a path planned far from the obstacle, on the condition that both paths guarantee that the robot will not collide with the obstacle. So, to generate a path near the obstacle, we have developed an algorithm that combines an edge detection method and a limit-cycle navigation method. The edge detection method, based on Hough Transform and IR sensors, finds an obstacle's edge, and the limit-cycle navigation method generates a path that is smooth enough to reach a detected obstacle's edge. And we proposed novel algorithm to solve local minima using the virtual wall in the local vision. Finally, we verify performances of the proposed algorithm through simulations and experiments.

• 센서학회지
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• 제33권4호
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• pp.196-202
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• 2024

Path-planning, a critical component of mobile robot navigation, comprises both local and global planning. Previous studies primarily focused on enhancing the individual performance of these planners, avoiding obstacles, and computing an optimal global path from a starting position to a target position. In this study, we introduce a practical path-planning framework that employs a target planner to bridge the local and global planners; this enables mobile robots to navigate seamlessly and efficiently toward a global target position. The proposed target planner assesses the visibility of waypoints along the global path, and it selects a reachable navigation target, which can then be used to generate efficient control commands for the local planners. A visibility-based target planner can handle situations, wherein the current, target waypoint is occupied by unknown obstacles. Real-world experiments demonstrated that the proposed pathplanning framework with the visibility-based target planner allowed the robot to navigate to the final target position along a more efficient path than the framework without a target planner.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1996년도 한국자동제어학술회의논문집(국내학술편); 포항공과대학교, 포항; 24-26 Oct. 1996
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• pp.904-907
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• 1996

In this paper, we propose an efficient collision-free path planning method of two cooperating robot manipulators grasping a common object rigidly. For given two robots and an object, the procedure is described which constructs the reduced dimensional configuration space by the kinematic analysis of two cooperating robot manipulators. A path planning algorithm without explicit representation of configuration obstacles is also described. The primary steps of the algorithm is as follows. First, we compute a graph which represents the skeleton of the free configuration space. Second, a connection between an initial and a goal configuration to the graph is searched to find a collision-free path.

• 제어로봇시스템학회논문지
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• 제15권12호
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• pp.1232-1239
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• 2009

This paper proposes an exploration strategy to efficiently find a specific place in large unknown environments with wall-following based path planning. Many exploration methods proposed so far showed good performance but they focused only on efficient planning for modeling unknown environments. Therefore, to successfully accomplish the room finding task, two additional requirements should be considered. First, suitable path-planning is needed to recognize the room number. Most conventional exploration schemes used the gradient method to extract the optimal path. In these schemes, the paths are extracted in the middle of the free space which is usually far from the wall. If the robot follows such a path, it is not likely to recognize the room number written on the wall because room numbers are usually too small to be recognized by camera image from a distance. Second, the behavior which re-explores the explored area is needed. Even though the robot completes exploration, it is possible that some rooms are not registered in the constructed map for some reasons such as poor recognition performance, occlusion by a human and so on. With this scheme, the robot does not have to visit and model the whole environment. This proposed method is very simple but it guarantees that the robot can find a specific room in most cases. The proposed exploration strategy was verified by various experiments.

• 한국군사과학기술학회지
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• 제19권2호
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• pp.252-260
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• 2016

Unlike terrestrial transportation, marine transportation should consider environment factors in order to optimize path planning. This is because, ship's path planning is greatly influenced by real-time ocean environment-sea currents, wave and wind. Therefore, in this study, we suggest a ship path planning algorithm based on real-time ocean environment using not only $A^*$ algorithm but also path smoothing method. Moreover, in order to improve objective function value, we also consider ship's moving distance based on ship's location and real-time ocean environment data on grid map. The efficiency of the suggested algorithm is proved by comparing with $A^*$ algorithm only. This algorithm can be used as a reasonable automatics control system algorithm for unmaned ship.

• 대한전기학회:학술대회논문집
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• 대한전기학회 1999년도 추계학술대회 논문집 학회본부 B
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• pp.633-635
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• 1999

In this paper, we propose a new method of path planning for multiple mobile robot in dynamic environment. To search the optimal path, multiple mobile robot is always generating path with static and dynamic obstacles avoidance from start point to goal point. The purpose of this paper is to design an optimal path for the mobile robot.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2007년도 심포지엄 논문집 정보 및 제어부문
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• pp.333-334
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• 2007

We propose a path planning method to decrease a inspection lead time of line scan camera in SMT(surface mount technology) in-line system. The inspection window area of printed circuit board should be minimized to consider the FOV(field of view) of line scan camera so that line scan inspector is going to find a optimal solution of path planning. We propose one of the hierarchical clustrering algorithm for a given board. Comparative simulation results are presented to verify the usefulness of proposed method.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1996년도 한국자동제어학술회의논문집(국내학술편); 포항공과대학교, 포항; 24-26 Oct. 1996
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• pp.1193-1196
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• 1996

Genetic algorithm(GA) is useful to find optimal solution without any special mathematical modeling. This study presents to search optimal path of Autonomous Mobile Robot(AMR) by using GA without encoding and decoding procedure. Therefore, this paper shows that the proposed algorithm using GA can reduce the computation time to search the optimal path.

• 제어로봇시스템학회논문지
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• 제21권3호
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• pp.217-223
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• 2015

Autonomous driving is no longer atechnology of the future since the development of autonomous vehicles has now been realized, and many technologies have already been developed for the convenience of drivers. For example, autonomous vehicles are one of the most important drive assistant systems. Among these many drive assistant systems, Cruise Control Systems are now a typical technology. This system constantly maintains a vehicle's speed and distance from a vehicle in front by using Radar or LiDAR sensors in real time. Cruise Control Systems do not only serve their original role, but also fulfill another role as a 'Driving Safety' measure as they can detect a situation that a driver did not predict and can intervene by assuming a vehicle's longitude control. However, these systems have the limitation of only focusing on driver safety. Therefore, in this paper, an Intelligent Cruise Control System that utilizes the path planning method and GIS is proposed to overcome some existing limitations.