• 한국정보통신학회:학술대회논문집
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• 한국해양정보통신학회 2006년도 춘계종합학술대회
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• pp.701-705
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• 2006

본 논문에서는 바퀴로 구성된 이동 로봇의 슬립 방지를 위한 경로 계획은 제안한다. 제안한 방식은 퍼텐셜 필드 경로 계획에서 척력에 대한 인위적인 힘을 평탄화 시키는 방식이다. 제안한 방식의 유용성을 확인하기 위하여 이동 로봇의 활동 영역에 C-obstacle이 존재하는 경우에 대해 시뮬레이션하여 제안한 방식의 성능이 기존 퍼텐셜 필드 방식보다 우수함을 확인하였다.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 1996년도 추계학술대회 논문집
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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.

• 한국지능시스템학회논문지
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• 제19권5호
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• pp.737-742
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• 2009

청소 로봇, 관광 안내 로봇부터 우주 탐사로봇까지 자율이동로봇의 응용분야가 넓어짐에 따라서 자율이동로봇의 인기는 급속도로 높아지고 있다. 하지만 동적인 환경 내에서 자율이동로봇의 안전한 네비게이션을 위한 만족스러운 제어 알고리즘은 여전히 연구 과제이다. 본 논문에서는 새로운 Potential field method를 이용한 제어 방법을 제안하였고, 컴퓨터 시뮬레이션을 통해 제안한 알고리즘을 실행하고 분석하였고, 이 실험 결과들로서 Potential field method를 사용한 행동(behavior)에 기반한 제어 시스템의 유효성을 나타내었다.

• 한국정밀공학회지
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• 제15권6호
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• pp.107-115
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• 1998

A path planning using potential field method is very useful for the real-time navigation of mobile robots. However, the method needs high modeling cost to calculate the potential field because of complex preprocessing, and mobile robots may get stuck into local minima. In this paper, An efficient path planning algorithm for multiple mobile robots, based on the potential field method, was proposed. In the algorithm. the concepts of subgoals and obstacle priority were introduced. The subgoals can be used to escape local minima, or to design and change the paths of mobile robots in the work space. In obstacle priority, all the objects (obstacles and mobile robots) in the work space have their own priorities, and the object having lower priority should avoid the objects having higher priority than it has. In this paper, first, potential based path planning method was introduced, next an efficient collision-avoidance algorithm for multiple mobile robots, moving in the obstacle environment, was proposed by using subgoals and obstacle priority. Finally, the developed algorithm was demonstrated graphically to show the usefulness of the algorithm.

• 지구물리와물리탐사
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• 제5권3호
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• pp.199-205
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• 2002

전기비저항 탐사에서 측정되는 양은 두 전위전극 사이의 전위차이다. 이 전위차가 양일 경우에는 겉보기 비저항도 양의 값을 가지며, 음일 경우에는 겉보기 비저항도 음의 값을 나타낸다. 또한 측정되는 전위차의 부호는 전기장의 방향에 따라 좌우된다. 만약 측정방향과 전기장의 방향이 같다면, 전위차와 겉보기 비저항은 양의 값을 보이게 되며, 그 반대의 경우에는 음의 값을 나타낸다. 일반적으로 지표 전기비저항 탐사에는 측정방향과 1차 전기장의 방향이 같은 전극 배열을 사용하며, 이 방향의 1차 전기장은 2차 전기장에 비하여 항상 크다. 따라서 일반적인 전극배열을 사용하는 지표 전기비저항 탐사의 경우에는 지형이 평탄하고 잡음이 없다면 음의 겉보기 비저항은 나타나지 않는다. 그러나 시추공-시추공 전기비저항 탐사의 경우에는 1차 전기장의 방향과 측정방향이 일치하지 않으며, 경우에 따라서는 1차 전기장의 측정방향 성분이 2차 전기장의 측정방향 성분 보다 그 크기가 작을 수 있다. 이 경우 2차 전기장의 방향과 측정방향이 서로 반대일 경우에는 음의 겉보기 비저항이 나타날 수 있다. 따라서 음의 겉보기 비저항은 측정방향의 1차 전기장이 매우 작은 영역에서 발생할 가능성이 높다.

• Journal of Mechanical Science and Technology
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• 제17권12호
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• pp.1876-1885
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• 2003

The artificial potential field (APF) methods provide simple and efficient motion planners for practical purposes. However, these methods have a local minimum problem, which can trap an object before reaching its goal. The local minimum problem is sometimes inevitable when an object moves in unknown environments, because the object cannot predict local minima before it detects obstacles forming the local minima. The avoidance of local minima has been an active research topic in the potential field based path planing. In this study, we propose a new concept using a virtual obstacle to escape local minima that occur in local path planning. A virtual obstacle is located around local minima to repel an object from local minima. We also propose the discrete modeling method for the modeling of arbitrary shaped objects used in this approach. This modeling method is adaptable for real-time path planning because it is reliable and provides lower complexity.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2003년도 학술회의 논문집 정보 및 제어부문 A
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• pp.11-14
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• 2003

In this paper, we use Fuzzy Logic and Potential field method for optimal path planning of an autonomous mobile robot and apply to navigation for real-time mobile robot in 2D dynamic environment. For safe navigation of the robot, we use both Global and Local path planning. Global path planning is computed off-line using sell-decomposition and Dijkstra algorithm and Local path planning is computed on-line with sensor information using potential field method and Fuzzy Logic. We can get gravitation between two feature points and repulsive force between obstacle and robot through potential field. It is described as a summation of the result of repulsive force between obstacle and robot which is considered as an input through Fuzzy Logic and gravitation to a feature point. With this force, the robot fan get to desired target point safely and fast avoiding obstacles. We Implemented the proposed algorithm with Pioneer-DXE robot in this paper.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2002년도 추계학술대회 논문집
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• pp.554-557
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• 2002

This paper describes power potential field method for the collision-free path planning of stereo-vision based mobile robot. Area based stereo matching is performed for obstacle detection in uncertain environment. The repulsive potential is constructed by distributing source points discretely and evenly on the boundaries of obstacles and superposing the power potential which is defined so that the source potential will have more influence on the robot than the sink potential when the robot is near to source point. The mobile robot approaches the goal point by moving the robot directly in negative gradient direction of the main potential. We have investigated the possibility of power potential method for the collision-free path planning of mobile robot through various experiments.

• 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.