• 정보과학회 논문지
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• 제42권10호
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• pp.1231-1238
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• 2015

본 논문은 신호등 신호에 따른 자율 주행 (또는 반-자율 주행) 차량의 주행 제어를 위한 인공 전위 함수(artificial potential function)를 제안한다. 신호등은 보행자의 안전과 직결된 일반적이면서도 가장 중요한 교통 신호 중 하나로서, 도로 위 자율 주행을 위해서는 차량이 교통 신호를 준수하게 해주는 주행 알고리즘의 설계가 중요하다. 본 논문은 세 가지 신호 색(녹색, 노랑, 빨강)으로 구성된 차량 신호등의 신호에 따라 차량의 움직임을 제어할 수 있는 인공 전위 함수를 제안한다. 제안된 인공 전위 함수는 세 가지 신호 색 각각에 대한 인공 전위 함수들로 구성되며, 신호에 따라 전위 함수가 전환되며 인공 전위 장(artificial potential field)을 변화시킨다. 제안된 신호등 전위 함수는 차량 주행을 위한 기존의 인공 전위 함수들과 결합되어 최종 인공 전위 장을 생성한다. 제안하는 방법은 시뮬레이션을 통해 다양한 신호등 상황에 대해 실험되었으며, 신호등의 신호에 따라 차량이 자연스럽게 반응하는 모습을 보여준다.

• 한국정보통신학회:학술대회논문집
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• 한국정보통신학회 2016년도 추계학술대회
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• pp.170-171
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• 2016

A surface potential model is introduced for L-shaped tunnel field-effect-transistor(L-TFET). Excellent agreement is obtained when model results are compared with TCAD data.

• 대한전자공학회:학술대회논문집
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• 대한전자공학회 2009년도 정보 및 제어 심포지움 논문집
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• pp.378-380
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• 2009

For the autonomous movement, the optimal pat]1 planning connecting between current and target positions is essential, and the optimal path of mobile robot means obstacle-free and the shortest length path to a target position. Many actual mobile robots should move without any information of surrounded obstacles. This paper suggests a new method of obstacle avoidment which is suitable in unknown environments. This method of obstacle avoidance is designed with a distributed fuzzy control system, and imitates a Potential Field method. A simulation confirms the performance and correctness of the obstacle avoidance.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2000년도 제15차 학술회의논문집
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• pp.256-256
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• 2000

In this parer, we present a real-time path planning algorithm which is integrated the artificial potential field(APF) and simulated annealing(SA) methods for mobile robot. The APF method in path planning has gained popularity since 1990's. It doesn't need the modeling of the complex configuration space of robot, and is easy to apply the path planning with simple computation. However, there is a major problem with APF method. It is the formation of local minima that can trap the robot before reaching its goal. So, to provide local minima recovery, we apply the SA method. The effectiveness of the proposed algorithm is verified through simulation.

• International Journal of Fuzzy Logic and Intelligent Systems
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• 제9권4호
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• pp.315-320
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• 2009

The popularity of autonomous mobile robots have been rapidly increasing due to their new emerging application areas, from room cleaning, tourist guidance to space explorations. However, the development of a satisfactory control algorithm that will enable the autonomous mobile robots to navigate safely especially in dynamic environments is still an open research problem. In this paper, a newly proposed potential field based control method is implemented, analyzed, and improvements are suggested based on experimental results obtained from simulations. The experimental results are presented to show the effectiveness of the behavior-based control using the proposed potential field generation technique.

• 지구물리와물리탐사
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• 제15권4호
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• pp.245-248
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• 2012

일정고도에서 얻어진 중력 혹은 자력탐사자료에 대하여 보다 높은 고도에서의 값으로 연속하여 구하는 방법, 즉 상향연속의 경우 2차원 푸리에변환을 사용할 수 있다. 기존의 상향연속 방법에서는 지구의 곡률이 고려되지 않았으나, 지역이 수백킬로미터 이상으로 넓은 경우 곡률이 고려됨이 바람직하다. 본 연구에서는 지구의 곡률효과를 산정하는 중/자력 마당의 새로운 상향연속방법을 계발하였다.

• 대한조선학회논문집
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• 제61권3호
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• pp.170-184
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• 2024

With the advancement of autonomous navigation technology in maritime domain, there is an active research on swarming Unmanned Surface Vehicles (USVs) that can fulfill missions with low cost and high efficiency. In this study, we propose a formation control algorithm that maintains a certain shape when multiple unmanned surface vehicles operate in a swarm. In the case of swarming, individual USVs need to be able to accurately follow the target state and avoid collisions with obstacles or other vessels in the swarm. In order to generate guidance commands for swarm formation control, the potential field method has been a major focus of swarm control research, but the method using the potential field only uses the position information of obstacles or other ships, so it cannot effectively respond to moving targets and obstacles. In situations such as the formation change of a swarm of ships, the formation control is performed in a dense environment, so the position and velocity information of the target and nearby obstacles must be considered to effectively change the formation. In order to overcome these limitations, this paper applies a method that considers relative velocity to the potential field-based guidance law to improve target following and collision avoidance performance. Considering the relative velocity of the moving target, the potential field for nearby obstacles is newly defined by utilizing the concept of Velocity Obstacle (VO), and the effectiveness and efficiency of the proposed method is verified through swarm control simulation, and swarm control experiments using a small scaled unmanned surface vehicle platform.

• 한국지능정보시스템학회:학술대회논문집
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• 한국지능정보시스템학회 2001년도 The Pacific Aisan Confrence On Intelligent Systems 2001
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• pp.37-44
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• 2001

This paper describes the modeling of work environment for the extraction of abstract operation rules for cooperative work with multiple agent. We propose the modeling method using a potential field. In the method, it is applied to a box pushing problem, which is to move a box from a start to a goal b multiple agent. The agents follow the potential value when they move and work in the work environment. The work environment is represented as the grid space. The potential field is generated by Genetic Algorithm(GA) for each agent. GA explores the positions of a potential peak value in the grid space, and then the potential value stretching in the grid space is spread by a potential diffusion function in each grid. However it is difficult to explore suitable setting using hand coding of the position of peak potential value. Thus, we use an evlolutionary computation way because it is possible to explore the large search space. So we make experiments the environment modeling using the proposed method and verify the performance of the exploration by GA. And we classify some types from acquired the environment model and extract the abstract operation rule, As results, we find out some types of the environment models and operation rules by the observation, and the performance of GA exploration is almost same as the hand coding set because these are nearly same performance on the evaluation of the consumption of agent's energy and the work step from point to the goal point.

• 한국지능시스템학회논문지
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• 제22권4호
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• pp.476-480
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• 2012

본 논문에서는 선도 로봇을 추종하는 군집 로봇의 대형 제어를 인공 포텐셜 장을 사용하여 제안한다. 또한, 인공 포텐셜 장은 물리적으로 해석하기 쉬운 전기장을 모델링하여 구성하고, 장애물을 더욱 효과적으로 모델링하기 위해서, 장애물의 모양에 따라 전기장의식을 달리한다. 제안하는 방법은 선도 로봇의 경로를 인공 포텐셜 장을 통해 계획한 뒤, 선도 로봇을 추종 로봇이 뒤따라가는 형태로 구성된다. 마지막으로 시뮬레이션 예제를 통해 제안하는 기법의 타당성을 검증한다.

• Journal of Electrical Engineering and Technology
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• 제13권6호
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• pp.2158-2167
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• 2018

This paper analyzed the magnetic field produced by the cylindrical stator coils of permanent magnet spherical motor (PMSM). The elliptic equations about the vector magnetic potential were given. Given that the eddy current effects are neglected, the magnet field of the PMSM is regarded as irrotational field, which can be calculated by scalar magnetic potential. The current density of cylindrical stator coil was proposed based on the definition of current density. The expression of current density of stator coil was obtained according to the double Fourier series decomposition and spherical harmonic functions. Then the magnetic flux density for scalar magnetic potential was derived. Further, the influence of different parameters on radial flux density was also analyzed. Finally, the results by the analytical method in this paper were validated by finite element analysis (FEA).