• Proceedings of the IEEK Conference
• /
• 2000.06e
• /
• pp.23-26
• /
• 2000

Generally, the wheel-driven mobile robot systems, by their structural property, have nonholonomic constraints. These constraints are not integrable and cannot be written as time derivatives of some functions with respect to the generalized coordinates. Hence, nonlinear approaches are required to solve the problems. In this paper, the trajectory controller of wheeled mobile robot systems is suggested to guarantee its convergence to reference trajectory. Design procedure of the suggested trajectory controller is back-stepping scheme which was introduced recently in nonlinear control theory. The performance of the proposed trajectory controller is verified via computer simulation. In the simulation, the trajectory controller is applied to differentially driven robot system and car-like mobile robot system on the assumption that the trajectory planner be given.

• Proceedings of the IEEK Conference
• /
• 2002.07c
• /
• pp.1618-1621
• /
• 2002

In this paper, the constructive modeling procedure of nonholonomic mobile robot system is carried out with the help of controllability Lie algebra used in differential geometry field, and their geometrical properties are also analyzed. And, a new trajectory controller is suggested to guarantee its convergence to reference trajectory. Design procedure of the suggested trajectory controller is back-stepping scheme which was introduced recently in nonlinear control theory. The performance of the proposed trajectory controller is verified via computer simulation. In the simulation the trajectory controller is applied to differentially driven mobile robot system on the assumption that the trajectory planner be given.

• Journal of Information Processing Systems
• /
• v.6 no.4
• /
• pp.521-536
• /
• 2010

Spatio-temporal patterns extracted from historical trajectories of moving objects reveal important knowledge about movement behavior for high quality LBS services. Existing approaches transform trajectories into sequences of location symbols and derive frequent subsequences by applying conventional sequential pattern mining algorithms. However, spatio-temporal correlations may be lost due to the inappropriate approximations of spatial and temporal properties. In this paper, we address the problem of mining spatio-temporal patterns from trajectory data. The inefficient description of temporal information decreases the mining efficiency and the interpretability of the patterns. We provide a formal statement of efficient representation of spatio-temporal movements and propose a new approach to discover spatio-temporal patterns in trajectory data. The proposed method first finds meaningful spatio-temporal regions and extracts frequent spatio-temporal patterns based on a prefix-projection approach from the sequences of these regions. We experimentally analyze that the proposed method improves mining performance and derives more intuitive patterns.

• Journal of the Korea Society of Computer and Information
• /
• v.27 no.8
• /
• pp.61-68
• /
• 2022

In this paper, we propose a system to predict the GPS trajectory of a pedestrian based on a deep learning model. Pedestrian trajectory prediction is a study that can prevent pedestrian danger and collision situations through notifications, and has an impact on business such as various marketing. In addition, it can be used not only for pedestrians but also for path prediction of unmanned transportation, which is receiving a lot of spotlight. Among various trajectory prediction methods, this paper is a study of trajectory prediction using GPS data. It is a deep learning model-based study that predicts the next route by learning the GPS trajectory of pedestrians, which is time series data. In this paper, we presented a data set construction method that allows the deep learning model to learn the GPS route of pedestrians, and proposes a trajectory prediction deep learning model that does not have large restrictions on the prediction range. The parameters suitable for the trajectory prediction deep learning model of this study are presented, and the model's test performance are presented.

• Proceedings of the Korean Information Science Society Conference
• /
• 2000.04b
• /
• pp.110-112
• /
• 2000

이미지와는 달리, 비디오 데이터는 객체에 대한 움직임 정보(motion trajectory)를 가지고 있으며, 이러한 움직임 정보는 비디오 데이터만이 가지는 매우 중요한 특징으로 비디오 데이터에 대한 색인과 내용 기반 검색을 수행하는 데 있어 중요한 역할을 한다. 따라서, 본 논문에서는 비디오 데이터베이스에서 효율적인 내용기반 검색을 위해 하나의 객체에 대한 움직임 정보를 나타내는 single motion trajectory와 두 객체에 대한 움직임 정보를 나타내는 multiple motion trajectory를 위한 새로운 시공간 표현 기법을 제안한다. 아울러, 움직임 정보에 대한 사용자 질의에 대해 유사성을 측정하여 순위부여와 Time Interval을 지원하는 새로운 유사성 측정 알고리즘인 SIST와 SIMT를 제안한다.

• Proceedings of the Korea Inteligent Information System Society Conference
• /
• 2005.05a
• /
• pp.215-221
• /
• 2005

In this paper, we propose a method to a synchronization of chaotic UAVs that have unstable limit cycles in a chaos trajectory surface. We assume all obstacles in the chaos trajectory surface have a Van der Pol equation with an unstable limit cycle. The proposed methods are assumed that if one of two chaotic UAVs receives the synchronization command, the other UAV also follows the same trajectory during chaotic UAVs search on the arbitrary surface.

• The Transactions of The Korean Institute of Electrical Engineers
• /
• v.68 no.1
• /
• pp.172-181
• /
• 2019

This paper deals with the problem of generating the energy optimal trajectory which is intended to enhance the target tracking performance of a passive homing missile. Noticing that the essence of passive target tracking is the range estimation problem, the target information gathered by passive measurements can be readily analyzed by introducing the range estimator designed in line-of-sight(LOS) frame. Moreover, for the linear filter structure of the suggested range estimator, the cost function associated with the target information is clearly expressed as a function of the line-of-sight rate. Based on this idea, the optimal missile trajectory maximizing the target information is obtained by solving the saddle point problem for an indefinite quadratic cost which consists of the target information and the energy. It is shown that, different from the previous heuristic approaches, the guidance command producing the optimal passive homing trajectory is produced by the modified proportional navigation guidance law whose navigation constant is determined by the weighting coefficient for target information cost.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
• /
• 2014.10a
• /
• pp.837-839
• /
• 2014

In radar systems, information of three-dimensional (3D) trajectory is necessary for tracking targets. The information of 3D trajectory for a 3D radar can be obtained by estimating the azimuth angle, the elevation angle, and the distance. The estimated information of the angles and the distance has errors according to received signals. Since these errors affect performances of 3D radar systems, performance analysis of 3D radar for the angles and the distance errors is required. In this paper, the performance of 3D radar systems is analyzed by root mean square error (RMSE) between true trajectory information and the estimated trajectory information according to the angles and the distance errors.

• Proceedings of the KSME Conference
• /
• 2000.11a
• /
• pp.647-652
• /
• 2000

This paper proposes a collision warning/avoidance algorithm using a trajectory prediction method. This algorithm is based on 2-dimensional kinematics and the Kalman filter has been used to obtain the information of the object vehicle. This algorithm has been investigated via computer simulation and showed a good trajectory prediction performance. The proposed collision warning/avoidance algorithm would enhanced driver acceptance for a collision warning/avoidance system.

• Proceeding of EDISON Challenge
• /
• 2016.03a
• /
• pp.389-396
• /
• 2016

In order to maximize the speed of Theo Jansen Mechanism in an given design space and prototyping material, the trajectory path was maximized according to several literature reviews, and the lower leg was elongated maximally in order to minimize the shift between support phase and transfer phase.