• 로봇학회논문지
• /
• 제5권4호
• /
• pp.332-338
• /
• 2010

This paper presents a study of path-planning method for AGV(automated guided vehicle) based on path-tracking. It is important to find an optimized path among the AGV techniques. This is due to the fact that the AGV is conditioned to follow the predetermined path. Consequently, the path-planning method is implemented directly affects the whole AGV operation in terms of its performance efficiency. In many existing methods are used optimization algorithms to find optimized path. However, such methods are often prone with problems in handling the issue of inefficiency that exists in system's operation due to inherent undue time delay created by heavy load of complex computation. To solve such problems, we offer path-planning method using modified binary tree. For the purpose of our experiment, we initially designed a AGV that is equiped with laser navigation, two encoders, a gyro sensor that is meant to be operated within actual environment with given set of constrictions and layout for the AGV testing. The result of our study reflects the fact that within such environments, the proposed method showed improvement in its efficiency in finding optimized path.

• Kyungpook Mathematical Journal
• /
• 제51권3호
• /
• pp.293-300
• /
• 2011

In this paper, we obtain that the space $\mathcal{W}_2$ of minimally supported frequency wavelets, the supports of whose Fourier transforms consist of two intervals, is path-connected.

• 한국정보통신학회논문지
• /
• 제23권6호
• /
• pp.711-718
• /
• 2019

이진결정도는 고장수목 해석에서 기존의 Boolean Logic 해석법의 잘 알려진 대체 방법이다. 고장수목의 규모가 커짐에 따라 계산에 필요한 컴퓨터 연산시간과 자원이 급격하게 증가한다. 이진결정도로부터 단절집합 및 최소단절 집합을 효과적으로 계산하기 위해 새로운 고장경로 탐색법과 고장경로 재구성 방법이 제안되었다. 고장경로 그룹화와 Bottom-Up 탐색법은 고장경로의 탐색에 효율적임을 증명하였고, 최소단절집합 계산을 위한 단절집합의 비교계산 횟수를 줄이기 위해 경로 재구성 방법을 사용할 수 있음을 증명하였다. 새로 제안된 방법을 적용하고, 기존의 근사확률 공식인 MCUB 확률공식과 동일한 새로운 ASDMP 확률공식을 사용하여 정상사상 확률을 계산 할 수 있다.

• 제어로봇시스템학회:학술대회논문집
• /
• 제어로봇시스템학회 1988년도 한국자동제어학술회의논문집(국내학술편); 한국전력공사연수원, 서울; 21-22 Oct. 1988
• /
• pp.72-75
• /
• 1988

Due to the fact that the set point regulation scheme by the variable structure control method concerns only the initial and final locations of a manipulator, many constraints may exist in the application of path tracking with obstracle avoidance. The variable structure parameter should be selected in the trajectory planning step by satisfying the constraints of the travel time and the path deviations This paper presents the selection algorithm of the variable structure parameters with the constraints of the system dynamics and the travel time and the path deviation. This study makes unify the trajectory planning and tracking control using the variable structure control method.

• 제어로봇시스템학회:학술대회논문집
• /
• 제어로봇시스템학회 2000년도 제15차 학술회의논문집
• /
• pp.253-253
• /
• 2000

Each robot plays a role of its own behavior in dynamic robot-soccer environment. One of the most necessary conditions to win a game is control of robot movement. In this paper we suggest a win strategy using Cellular Neural Network to set optimal path and cooperative behavior, which divides a soccer ground into grid-cell based ground and has robots move a next grid-cell along the optimal path to approach the moving target.

• 대한전기학회:학술대회논문집
• /
• 대한전기학회 2003년도 하계학술대회 논문집 D
• /
• pp.2423-2425
• /
• 2003

This paper proposes a decision criteria for selecting the shortest path from Dubins set between the initial and final configurations of a car-like robot. The suggested scheme is a very simple and computational savings without explicitly calculating the candidate paths and having a complicated decision table. Equations for calculating the shortest path are derived in simple form with coordinate transform and defining standard forms.

• 대한전기학회:학술대회논문집
• /
• 대한전기학회 2005년도 심포지엄 논문집 정보 및 제어부문
• /
• pp.249-251
• /
• 2005

In this paper, an algorithm of path planning and obstacle avoidance for mobile robot is proposed. We call the proposed method Random Access Sequence(RAS) method. In the proposed method, a small region is set first and numbers are assigned to its neighbors. By processing assigned numbers all regions are covered and then the path from start to destination is selected by these numbers. The RAS has an advantage of fast planning because of simple operations. This implies that new path selection may be possible within a short time and helps a robot to avoid obstacles in any direction. The algorithm can be applied to unknown environments. When moving obstacles appear, a mobile robot avoids obstacles reactively. then new path is selected by RAS.

• 대한수학회논문집
• /
• 제37권4호
• /
• pp.957-967
• /
• 2022

Recently, Brešar's Jordan {g, h}-derivations have been investigated on triangular algebras. As a first aim of this paper, we extend this study to an interesting general context. Namely, we introduce the notion of Jordan 𝒢_n-derivations, with n ≥ 2, which is a natural generalization of Jordan {g, h}-derivations. Then, we study this notion on path algebras. We prove that, when n > 2, every Jordan 𝒢_n-derivation on a path algebra is a {g, h}-derivation. However, when n = 2, we give an example showing that this implication does not hold true in general. So, we characterize when it holds. As a second aim, we give a positive answer to a variant of Lvov-Kaplansky conjecture on path algebras. Namely, we show that the set of values of a multi-linear polynomial on a path algebra KE is either {0}, KE or the space spanned by paths of a length greater than or equal to 1.

• 전기학회논문지
• /
• 제64권10호
• /
• pp.1479-1485
• /
• 2015

Robot's technology was very simple and repetitive in the past. Nowadays, robots are required to perform intelligent operation. So, path planning has been studied extensively to create a path from start position to the goal position. In this paper, potential field algorithm was used for path planning in dynamic environments. It is used for a path plan of mobile robot because it is elegant mathematical analysis and simplicity. However, there are some problems. The problems are collision risk, avoidance path, time attrition. In order to resolve path problems, we amalgamated potential field algorithm with the artificial neural network system. The input of the neural network system is set using relative velocity and location between the robot and the obstacle. The output of the neural network system is used for the weighting factor of the repulsive potential function. The potential field algorithm problem of mobile robot's path planning can be improved by using artificial neural network system. The suggested algorithm was verified by simulations in various dynamic environments.

• 한국컴퓨터정보학회논문지
• /
• 제21권5호
• /
• pp.73-77
• /
• 2016

This paper deals with the network reliability problem that decides the communication line between main two districts while the k districts were destroyed in military communication network that the n communication lines are connected in m districts. For this problem, there is only in used the mathematical approach as linear programming (LP) software package and has been unknown the polynomial time algorithm. In this paper we suggest the heuristic algorithm with O(n) linear time complexity to solve the optimal solution for this problem. This paper suggests the flow path algorithm (FPA) and level path algorithm (LPA). The FPA is to search the maximum number of distinct paths between two districts. The LPA is to construct the levels and delete the unnecessary nodes and edges. The proposed algorithm can be get the same optimal solution as LP for experimental data.