• Proceedings of the Korean Society of Precision Engineering Conference
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• 1996.11a
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• pp.430-433
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• 1996

In This paper, we design the developed path generation method which is named that CBPM(Continuous path generation method Based artificial Potential field) that is able to be used in the obstacles environment. This CBPM is designed so that it puts together two obstacle avoidance algorithm-the continuous path generation method and the artificial potential field method. Here, the continuous path generation method generate the safety path using continuous path curvature. But, this method has demerits when used in obstacles environment in which are closely located. Another method which is named the artificial potential field method generates the path with the artificial potential field in the obstacles environment. But, APFM has local minima in certain places and unnecessarily calculates the path in which obstacles are not located. So, the developed path generation method, CBPM, is suggested and performances in many different obstacles environments are shown by using computer simulation.

• Journal of the Korea Institute of Military Science and Technology
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• v.4 no.2
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• pp.17-29
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• 2001

In this paper, we designed the hybrid path generation method which is named CAPM(Continuous path generation method based on artificial Potential field) that is able to be used in the obstacles environment. This CAPM was designed so that it puts together two obstacle avoidance algorithm-the continuous path generation method(CPGM) and the artificial potential field method(APFM). Here, the CAPM generate the safety path using continuous path curvature. But, this method has demerits when used in obstacles environment in which are closely located. Another method which is named the APFM generates the path with the artificial potential field in the obstacles environment. But, It has local minima in certain places and unnecessarily calculates the path in which obstacles are not located. So, the CAPM was designed for autonomous underwater vehicle(AUV) obstacle avoidance. As the result of simulation, it was confirmed that the CAPM can be applied to a safe path generation for AUV.

• Journal of Mechanical Science and Technology
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• v.16 no.2
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• pp.137-146
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• 2002

In this paper, a path generation algorithm that uses sensor scannings is described. A scanning algorithm for recognizing the ambient environment of the Automatic Guided Vehicle (AGV) that uses the information from the sensor platform is proposed. An algorithm for computing the real path and obstacle length is developed by using a scanning method that controls rotating of the sensors on the platform. The AGV can recognize the given path by adopting this algorithm. As the AGV with two-wheel drive constitute a nonholonomic system, a linearized kinematic model is applied to the AGV motor control. An optimal controller is designed for tracking the reference path which is generated by recognizing the path pattern. Based on experimental results, the proposed algorithm that uses scanning with a sensor platform employing only a small number of sensors and a low cost controller for the AGV is shown to be adequate for path generation.

• 제어로봇시스템학회:학술대회논문집
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• 2004.08a
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• pp.1496-1499
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• 2004

In this paper, we deal with a novel path planning algorithm to find collision-free path for a moving robot to find an appropriate path from initial position to goal position. The robot should make progress by avoiding obstacles located at unknown position. Such problem is called the path planning. We propose so called the subgoal generation algorithm to find an effective collision-free path. The generation and selection of the subgoal are the key point of this algorithm. Several subgoals, if necessary, are generated by analyzing the map information. The subgoal is the candidate for the final path to be pass through. Then selection algorithm is executed to choose appropriate subgoal to construct a correct path. Deep and through explanations are given for the proposed algorithm. Simulation example is given to show the effectiveness of the proposed algorithm.

• Korean Journal of Computational Design and Engineering
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• v.12 no.3
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• pp.153-162
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• 2007

In this paper, we propose a knowledge-based method for generating CNC torch path for laser cutting of the outlines of planar shapes. The proposed method consists of two main phases: laser cutting knowledge construction and CNC torch path generation using the knowledge. In the first phase, cutting experiments are conducted on various operating parameters, and then empirical data are stored and analyzed to make up the knowledge of laser cutting. With this knowledge, we can inquire what a kerf width is for specific operating parameters. In the second phase, using the knowledge of laser cutting, CNC torch path is generated for cutting the outlines of the given planar shapes. This phase is basically based on the offset generation of each outline by a sequence of arc splines, where the offset distance is the same as the half of the kerf width determined from the constructed knowledge. The proposed method based on laser cutting knowledge makes full use of arc interpolators in CNC torch path generation. The method can efficiently reduce the number of path segments while keeping the torch path within the desired accuracy.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.39 no.12
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• pp.1124-1132
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• 2011

This paper deals with smooth path generation using B-spline for fixed-wing unmanned aerial vehicles manuevering in 2D environment. Hexagonal cell representation is employed to model the 2D environment, which features increased connectivity among cells over square cell representation. Subsequently, hexagonal cell representation enables smoother path generation based on a discrete sequence of path from the path planner. In addition, we present an on-line path smoothing algorithm incorporating B-spline path templates. The path templates are computed off-line by taking into account all possible path sequences within finite horizon. During on-line implementation, the B-spline curves from the templates are stitched together repeatedly to come up with a reference trajectory for UAVs. This method is an effective way of generating smooth path with reduced on-line computation requirement, hence it can be implemented on a small low-cost autopilot that has limited computational resources.

• Korean Journal of Computational Design and Engineering
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• v.16 no.4
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• pp.300-304
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• 2011

This paper proposes an approach to generate tool-path for laser pattern machining. Considering the mechanical structure of a laser pattern machine, it is quite similar to that of a 2D milling machine. Based on the observation, one may try to utilize the tool-path generation methodologies of 2D milling for the laser pattern machining. However, it is not possible to generate tool-path without considering the technological requirements of laser pattern machining which are different from those of 2D milling. In this paper, we identify the technological requirement of laser pattern machining, and propose a proper tool-path generation methodology to satisfy the technological requirements. For the efficient generation of tool-path, this paper proposes a tool-path element computation method, which is based on the concept of a monotone chain.

• Journal of Computational Design and Engineering
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• v.2 no.4
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• pp.268-275
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• 2015

Blisk is an essential component in aero engines. To maintain good aero-dynamic performance, one critical machining requirement for blades on blisk is that the generated five-axis tool path should be boundary-conformed. For a blade discretely modeled as a point cloud or mesh, most existing popular tool path generation methods are unable to meet this requirement. To address this issue, a novel five-axis tool path generation method for a discretized blade on blisk is presented in this paper. An idea called Linear Morphing Cone (LMC) is first proposed, which sets the boundary of the blade as the constraint. Based on this LMC, a CC curve generation and expansion method is then proposed with the specified machining accuracy upheld. Using the proposed tool path generation method, experiments on discretized blades are carried out, whose results show that the generated tool paths are both uniform and boundary-conformed.

• 제어로봇시스템학회:학술대회논문집
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• 2000.10a
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• pp.399-399
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• 2000

In this paper, path generation using the sensor platform is proposed. The sensor platform is composed two electric motors which make panning and tilting motions. An algorithm fur a real path form and an obstacle length is realized using a scanning algorithm to rotating the sensors on the sensor platform. An ARV (Autonomous Robot Vehicle) is able to recognize the given path by adapting this algorithm. In order for the ARV to navigate the path flexibly, a kinematic model needed to be constructed. The kinematic model of the ARV was reformed around its body center through a relative velocity relationship to controllability, which derives from the nonholonomic characteristics. The optimal controller that is based on tile kinematic model is operated purposefully to track a reference vehicle's path. The path generation algorithm is composed of two parks. On e part is the generating path pattern, and the other is used to avoid an obstacle. The optimal controller is used for tracking the reference path which is generated by recognizing the path pattern. Results of simulation show that this algorithm for an ARV is sufficient for path generation by small number of sensors and for low cost controller.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2004.10a
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• pp.1295-1298
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• 2004

Selective Laser Sintering(SLS) method is one of Rapid Prototyping(RP) technologies. It is used to fabricate desirable part to sinter powder and stack the fabricated layer. To develop this SLS machine, it needs effective scanning path and the development of scanning device. This paper shows how to make fast scanning path with respect to scan spacing, laser beam size and scanning direction from 2-dimensional sliced file generated in commercial CAD/CAM software. Also, we develop the scanning device and its control algorithm to precisely follow the generated scanning path. Scanning path affects precision and total machining time of the final fabricated part. Sintering occurs using infrared laser which has high thermal energy. As a result, shrinkage and curling of the fabricated part occurs according to thermal distribution. Therefore, fast scanning path generation is needed to eliminate the factors of quality deterioration. It highly affects machining efficiency and prevents shrinkage and curling by relatively lessening the thermal distribution of the surface of sintering layer. To generate this fast scanning path, adaptive path generation is needed with respect to the shape of each layer, and not simply x, y scanning, but the scanning of arbitrary direction must be enabled. This paper addresses path generation method to focus on fast scanning, and development of scanning system and control algorithm to precisely follow generated path.