• Journal of the Korea Institute of Military Science and Technology
• /
• v.12 no.6
• /
• pp.689-696
• /
• 2009

In this paper, a new user interface for unmanned combat vehicle(UCV) is developed based on the mission planning and global path planning. In order to complete a tactical mission given to an UCV, it is essential to design an effective interface scheme between human and UCV considering changing combat environment and characteristics of the mission. The user interface is mainly composed of two parts, mission planning and global path planning, since they are important factors to accomplish combat missions. First of all, mission types of UCV are identified. Based on mission types, the concept of mission planning for UCVs is presented. Then a new method for global path planning is devised. It is capable of dealing with multiple grid maps to consider various combat factors so that paths suitable for the mission be generated. By combining these two, a user interface method is suggested. It is partially implemented in the Dog-horse Robot of ADD and its effectiveness is verified.

• Journal of Korean Society of Rural Planning
• /
• v.22 no.2
• /
• pp.57-65
• /
• 2016

Landscape elements of historical and cultural value and elements that have negative impact on landscape due to reckless development teem in rural area. Due to this, local government has established a visual landscape plan. The purpose of this study is to analyze the process and content of domestic rural landscape planning process and to suggest improvements for it. For that, this study measure guideline of Ministry of Agriculture, Food and Rural Affairs against guideline of Ministry of Land, Infrastructure and Transport. To analyze the landscape planning guideline of australia which is similar to domestic rural landscape planning process, and to compare both guidelines. The results of this study are as follow. The stage of landscape resource survey and assessment progressed systematically, but it was not practical because for the lack of survey and assessment method. Therefore, it should be suggested for the survey and assessment technique. The rural landscape plan, established in master planning stage, do not necessarily reflect local government's landscape management on the ground of abstract technic of landscape management. For this sake, to develop evaluation method for development of landscape element seems necessary.

• Journal of the Architectural Institute of Korea Planning & Design
• /
• v.34 no.12
• /
• pp.103-112
• /
• 2018

High-rise mixed-use buildings are consisted of various facilities and circulations. Since various facilities and circulations are planned in a single site, circulation planning should be established after identifying the exact characteristics of facility and circulation. To this end, the components of the circulation planning in accordance with the formation of facility types are analyzed through the survey of experts based on Delphi Method. To identify the characteristics of the mixed-use buildings, by figuring out how the elements of circulation planning which are sought to be important by the planner has been reflected through analysis of the correlation between two sections. Researching on the circulation between two sections through Delphi Method and reflected circulation planning, it reaches the conclusion that the circulation of planning on the subject building is applied following the importance. In other words, the components of circulation planning which were sought to be important by the planner are reflected significantly when they planned the circulation planning on that mixed-use buildings. However, in case of design on the outdoor vehicle circulation, minimizing on the vehicle circulation at the 1st floor is not applied for the majority of the subject buildings different from the importance. In early 2000, high end residential buildings designed for mixed-use building have been specialized at vehicle-centered outdoor space and hotel style drop-off. Contrastively, sizable outdoor space at the 1st floor is designed to open to the residents and the local by minimizing the vehicle circulation in recent. Finally it shows that the way of circulation planning has been changed in accordance with time and trend.

• The Transactions of the Korean Institute of Electrical Engineers
• /
• v.41 no.9
• /
• pp.994-1002
• /
• 1992

With regard to price elasticity and cross elasticity of electricity, optimal generation expansion planning method including load management effect is suggested. In addition, optimal peak time price can be determined simultaneously, and we adopt peak time tariff as load management strategy. Instead of using hourly marginal demand curves where we can get customer surplus, we used chronological load curve with constraints to preserve social welfare. This method is proved useful in short-term generation expansion planning.

• 제어로봇시스템학회:학술대회논문집
• /
• 1993.10a
• /
• pp.428-433
• /
• 1993

An analytic solution approach to the time-varying obstacle avoidance problem is pursued. We use the view-time concept, especially the adaptive view-time. First. we introduce the adaptive view-time and analyze its properties. Next, we propose a view-time based motion planning method. The proposed method is applied and simulated for the collision-free motion planning of a 2 DOF robot manipulator. We simulate the robot motion under several different view-time systems. Generally, the motion planning with the adaptive view-time systems has some advantages over that with the fixed view-time systems.

• Proceedings of the KIEE Conference
• /
• 1998.07g
• /
• pp.2318-2320
• /
• 1998

A genetic algorithm for global and local path planning and collision avoidance of mobil robot in unstructured workspace is proposed. The genetic algorithm searches for a path in the entire and continuous free space and unifies global path planning and local path planning. The simulation shows the proposed method is an efficient and effective method when compared with the traditional collision avoidance algorithms.

• Proceedings of the KIEE Conference
• /
• 1999.07g
• /
• pp.3098-3100
• /
• 1999

A genetic algorithm for global and local path planning and collision avoidance of mobile robot in dynamic working environment is proposed. The genetic algorithm searches for a path in the entire and continuous free space and unifies global path planning and local path planning. The simulation shows the proposed method is an efficient and effective method when compared with the traditional collision avoidance algorithms.

• Journal of Institute of Control, Robotics and Systems
• /
• v.22 no.3
• /
• pp.217-225
• /
• 2016

In this paper, we propose an improved path planning method and obstacle avoidance algorithm for two-wheel mobile robots, which can be effectively applied in an environment where obstacles can be represented by circles. Firstly, we briefly introduce the rapidly exploring random tree (RRT) and single polar polynomial (SPP) algorithm. Secondly, we present additional two methods for applying our proposed method. Thirdly, we propose a global path planning, smoothing and obstacle avoidance method that combines the RRT and SPP algorithms. Finally, we present a simulation using our proposed method and check the feasibility. This shows that proposed method is better than existing methods in terms of the optimality of the trajectory and the satisfaction of the kinematic constraints.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
• /
• 2006.05a
• /
• pp.701-705
• /
• 2006

This paper propose a method of mobile robot path planning for prevention of slip using potential field. The path planning minimizes robot slip for the potential field method to smooth a potential barrier. In order to verify the effectiveness of the proposed method, we performed simulations on path planning with C-obstacles in the workspace. The results show that the proposed method considerably improves on the performance of the general potential field method.

• Journal of the Korean Operations Research and Management Science Society
• /
• v.19 no.3
• /
• pp.63-79
• /
• 1994

Many vehicle fleet planning systems have been suggested to minimize the routing distances of vehicles or reduce the transportation cost. But the more considerations the method takes, the higher complexites are involved in a large number of practical situations. The purpose of this paper is to vehicle fleet planning system. This paper is considered multi-objective optimization. The vehicle fleet planning system developed by this study involves such complicated and restricted conditions as one depot, multiple nodes (demand points), multiple vehicle types, multipel order items, and other many restrictions for operating vehicles. The proposed algorithm is compared with the nearest neighbor heuristic (NNH) and the savings heuristic (SAH) algorithm in terms of total logistics cost and driving time. This method constructs a route with a minimum number of vehicles for a given demand. This method can be used to any companys which vehicle fleet planning system under circumstances considered in this paper.