• Journal of Navigation and Port Research
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• v.47 no.2
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• pp.75-84
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• 2023

Ships need to ensure safety during their navigation, which makes route determination highly important. It must be accompanied by a route following controller that can accurately follow the route. This study proposes a method for automatically generating the ship route based on deep reinforcement learning algorithm and following it using a route following controller. To generate a ship route, under keel clearance was applied to secure the ship's safety and navigation chart information was used to apply ship navigation related regulations. For the experiment, a target ship with a draft of 8.23 m was designated. The target route in this study was to depart from Busan port and arrive at the pilot boarding place of the Ulsan port. As a route following controller, a velocity type fuzzy P ID controller that could compensate for the limitation of a linear controller was applied. As a result of using the deep Q network, a route with a total distance of 62.22 km and 81 waypoints was generated. To simplify the route, the Douglas-Peucker algorithm was introduced to reduce the total distance to 55.67 m and the number of way points to 3. After that, an experiment was conducted to follow the path generated by the target ship. Experiment results revealed that the velocity type fuzzy P ID controller had less overshoot and fast settling time. In addition, it had the advantage of reducing the energy loss of the ship because the change in rudder angle was smooth. This study can be used as a basic study of route automatic generation. It suggests a method of combining ship route generation with the route following control.

• Journal of Advanced Marine Engineering and Technology
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• v.25 no.1
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• pp.199-208
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• 2001

In this paper, an automatic route tracking algorithm using the position variables and the yaw angle of a ship is suggested, Since most autopilot systems paly only a role of course-keeping by integrating the gyrocompass output, they cannot cope with position errors between the desired route and real route of the ship resulted from a drifting and disturbances such as wave, wind and currents during navigation. In order for autopilot systems to track the desired route, a method which can reduce such position errors is required and some algorithms have been proposed[1,2]While such were turned out effective methods, they have a shortage that the rudder control actions for reducing the position errors are occurred very frequently. In order to improve this problem it is necessary to convert that error into the corresponding yaw angle and necessary to treat only yaw angle control problem. To do this a command generation algorithm which converts the rudder angle command reducing the current position error into they yaw angle command is suggested. To control the ship under disturbances and nonlinearities of the ship dynamics, the adaptive fuzzy controller is developed. Finally, through computer simulations for two ship models, the effectiveness of the suggested method and the possibility of the automatic route tracking are assured.

• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.995-1000
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• 2003

This paper proposes the pedestrian navigation system which deals with subjective information. This system consists of the route setting part and the instruction generation part. The route setting part chooses the route with highest subjective satisfaction degree. The instruction generation part gives users the instructions based on the users' sensuous feeling of distance with linguistic expressions. Fuzzy measures and integrals are applied to the calculation of the satisfaction degree of the route which reflects the users' taste for routes. The instruction generation part has database of users' cognitive distance. Users' cognitive distances are expressed by fuzzy sets that correspond to linguistic terms. The system generates the instructions with linguistic terms which have the highest fitness value for the users' sensuous feeling of distance. This paper also performs subjective experiments in order to confirm the validity of the present system.

• Proceedings of the Korean Institute of Navigation and Port Research Conference
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• 2012.10a
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• pp.119-120
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• 2012

The International Hydrographic Organization (IHO) developed S-100 standards as a framework for a variety of data and service for hydrography and a standard research is in process, including a next-generation electronic chart standard, for products and services based on this.The need for standard storage and utilization of navigation routes generated by ECDIS and navigation system using navigation planning features has emerged and a standard research based on S-100 standard has been performed. Route information standard is needed for interoperability among route information generated by a variety of navigation system and requires an examination for the possibility of applicability. In this research, route generation tools and standard-based generation and result of route information using these tools in order to examine the application of route information standards have been executed.In details, first, as a module capable of generating route information, a module that can store values in memory based on route information standards of S-100, second, a module that can store route information in the memory in XML form, third, it includes loading module for route information stored as XML.In this research, we verified normal generation of route information, storage of generated route information and loading functions through developing three modules.

• Proceedings of the Korean Operations and Management Science Society Conference
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• 2004.10a
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• pp.389-392
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• 2004

The column generation process for the set-partitioning model of the vehicle routing problem requires repeated solutions of column generation subproblems which has a combinatorial structure similar to that of the traveling salesman problem. This limits the size of the problem that can be addressed. We introduce a new modeling approach, termed route-splitting, which splits each vehicle route into segments, and results in more tractable subproblems. A lower bounding scheme that yields an updated bound at each iteration of the column generation process is developed. Implementation issues, including a technique of controlling columns in the master problem, are explored. Lower bounds are computed on standard benchmark problems with up to 199 customers.

• Journal of Korean Society of Industrial and Systems Engineering
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• v.24 no.65
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• pp.89-102
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• 2001

In this paper, the aircraft route scheduling consists of two steps; the pairing generation and the aircraft assignment. The pairing generation is heuristic approach how flights construct pairings from and to the main base. The aircraft resource assignment which is to establish a aircraft route schedule is constructed by constraint satisfaction problem technique. ILOG solver and schedule is used to solve this problem. In addition, a aircraft route reschedule process against departure-arrival delay or aircraft maintenance schedule change is added by partial constraints satisfaction problem technique. Also, Gantt chart made by ILOG views is used to show aircraft route schedule results more easily.

• Journal of Institute of Control, Robotics and Systems
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• v.3 no.2
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• pp.156-161
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• 1997

In this thesis, based on Genetic Algorithm, a new route search algorithm is presented to search an optimal route between the origin and the destination in intelligent route guidance systems in order to minimize the route traveling time. The proposed algorithm is effectively employed to complex road networks which have diverse turn constrains, time-delay constraints due to cross signals, and stochastic traffic volume. The algorithm is also shown to significantly promote search efficiency by changing the population size of path individuals that exist in each generation through the concept of age and lifetime to each path individual. A virtual road-traffic network with various turn constraints and traffic volume is simulated, where the suggested algorithm promptly produces not only an optimal route to minimize the route cost but also the estimated travel time for any pair of the origin and the destination, while effectively avoiding turn constraints and traffic jam.

• Journal of Navigation and Port Research
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• v.39 no.4
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• pp.361-370
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• 2015

Wind energy began to receive attention as a new alternative fuel since 20 years ago and is growing as a booming global business model. Global wind power generation in the world has been continuously increasing for the past 10 years, accounting for over 30% of cumulative rate compared to total power generation. Global demand for wind power generation is gradually expanding due to restriction on carbon emission and environmental problems caused by increased greenhouse effect. Accordingly in this study, current transportation routes are classified into three types including access-priority route, economics-priority route, and convenience- priority route depending on distribution characteristics of wind power equipment in order to suggest transportation methods other than ships. The three types of transportation route that this study declared can make the Wind power equipment manufacturing companies can judge not only the duration of transportation but also effectiveness and economic feasibility. It means that the manufacturers can analyze and compare the effectiveness and economic feasibility, which are proceed by the shipping company and freight forwarder until now days.

• Information Systems Review
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• v.10 no.1
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• pp.115-133
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• 2008

The third-party logistics industry mainly delivers goods from a place to an arrival place on behalf of the freight owner. To handle the work, they need a transportation route including transportation equipment between the starting place and the arrival place, schedule information for departure/arrival and transportation cost. Actually, automatic searching for an optimal transportation route, which considers arrival and departure points for intermodal transportation, is not a simple problem. To search efficiently transportation route, the collection of schedule information for intermodal transportation and transportation route generation have become critical and vital issues for logistics companies. Usually, they manually make a plan for a transportation route by their experience. Because of this, they are limited in their ability if there is too much cargo volume and a great many transactions. Furthermore, their dependence on the conventional way in doing business causes an inefficient selection of transporters or transportation routes. Also, it fails to provide diverse alternatives for transportation routes to the customers, and as a result, increases logistics costs. In an effort to solve these problems, this study aims to develop a route planning system based on agent, which can collect scattered schedule information on the Web. The route planning system also has an algorithm for transportation route generation in intermodal transportation.

• Journal of Navigation and Port Research
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• v.47 no.2
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• pp.66-74
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• 2023

With the increase of interest in developing Maritime Autonomous Surface Ships (MASS), an optimal ship route planning is gradually gaining popularity as one of the important subsystems for autonomy of modern marine vessels. In the present paper, an optimal ship route planning model for MASS is proposed using a nonlinear MPC approach together with a nonlinear MMG model. Results drawn from this study demonstrated that the optimization problem for the ship route was successfully solved with satisfaction of the nonlinear dynamics of the ship and all constraints for the state and manipulated variables using the nonlinear MPC approach. Given that a route generation system capable of accounting for nonlinear dynamics of the ship and equality/inequality constraints is essential for achieving fully autonomous navigation at sea, it is expected that this paper will contribute to the field of autonomous vehicles by demonstrating the performance of the proposed optimal ship route planning model.