• The Journal of Korea Robotics Society
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• v.7 no.2
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• pp.150-159
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• 2012

In this paper, we propose a cost-aware Rapidly-exploring Random Tree (RRT) path planning algorithm for mobile robots. A mobile robot is presented with a cost map of the field of interest and assigned to move from one location to another. As a robot moves, the robot is penalized by the cost at its current location according to the cost map. The overall cost of the robot is determined by the trajectory of the robot. The goal of the proposed cost-aware RRT algorithm is to find a trajectory with the minimal cost. The cost map of the field can represent environmental parameters, such as temperature, humidity, chemical concentration, wireless signal strength, and stealthiness. For example, if the cost map represents packet drop rates at different locations, the minimum cost path between two locations is the path with the best possible communication, which is desirable when a robot operates under the environment with weak wireless signals. The proposed cost-aware RRT algorithm extends the basic RRT algorithm by considering the cost map when extending a motion segment. We show that the proposed algorithm gives an outstanding performance compared to the basic RRT method. We also demonstrate that the use of rejection sampling can give better results through extensive simulation.

• The Journal of Korea Robotics Society
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• v.13 no.2
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• pp.142-149
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• 2018

$RRT^*$ (Rapidly exploring Random $Tree^*$) based algorithms are widely used for path planning. Informed $RRT^*$ uses $RRT^*$ for generating an initial path and optimizes the path by limiting sampling regions to the area around the initial path. $RRT^*$ algorithms have several limitations such as slow convergence speed, large memory requirements, and difficulties in finding paths when narrow aisles or doors exist. In this paper, we propose an algorithm to deal with these problems. The proposed algorithm applies the image skeletonization to the gridmap image for generating an initial path. Because this initial path is close to the optimal cost path even in the complex environments, the cost can converge to the optimum more quickly in the proposed algorithm than in the conventional Informed $RRT^*$. Also, we can reduce the number of nodes and memory requirement. The performance of the proposed algorithm is verified by comparison with the conventional Informed $RRT^*$ and Informed $RRT^*$ using initial path generated by $A^*$.

• Journal of the Korea Institute of Military Science and Technology
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• v.15 no.4
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• pp.424-434
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• 2012

This paper presents a path planning algorithm of the unmanned aerial vehicle for the neutralization of the enemy firepower. The long range firepower of the ememy is usually located at the rear side of the mountain which is difficult to bomb. The path planner not only consider the differential constraints of the Unmanned Aerial Vehicle (UAV) but also consider the final approaching angle constraint. This problem is easily solved by incorporating the analytical upper bounded continuous curvature path smoothing algorithm into the Rapidly Exploring Random Tree (RRT) planner. The proposed algorithm can build a feasible path satisfying the kinematic constraints of the UAV on the fly. In addition, the curvatures of the path are continuous over the whole path. Simulation results show that the proposed algorithm can generate a feasible path of the UAV for the bombing mission regardless of the posture of the tunnel.

• The Journal of Korea Robotics Society
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• v.14 no.4
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• pp.285-292
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• 2019

Path planning is an important problem to solve in robotics and there has been many related studies so far. In the previous research, we proposed the Heterogeneous-Ants-Based Path Planner (HAB-PP) for the global path planning of mobile robots. The conventional path planners using grid map had discrete state transitions that constrain the only movement of an agent to multiples of 45 degrees. The HAB-PP provided the smoother path using the heterogeneous ants unlike the conventional path planners based on Ant Colony Optimization (ACO) algorithm. The planner, however, has the problem that the optimization of the path once found is fast but it takes a lot of time to find the first path to the goal point. Also, the HAB-PP often falls into a local optimum solution. To solve these problems, this paper proposes an improved ant-inspired path planner using the Rapidly-exploring Random Tree-star ($RRT^*$). The key ideas are to use $RRT^*$ as the characteristic of another heterogeneous ant and to share the information for the found path through the pheromone field. The comparative simulations with several scenarios verify the performance of the improved HAB-PP.

• Journal of the Korean Operations Research and Management Science Society
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• v.15 no.1
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• pp.1-22
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• 1990

This susrvey is on modelling of various network design problems with tree configuration, which have a wide variety of practical applications, particularly in communication, which have a wide a variety of practical applications, particularly in communication and transportation network planning. Models which can be classified as either minimum spanning tree of Steiner tree, are investigated. Various important variants of each basic model are then classified according to model structurs. In addition to the calssification, the typical solution method for each problem is briefly sketched, along with some remarks on further research issues.

• Proceedings of the KSR Conference
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• 2005.11a
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• pp.623-629
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• 2005

A technical road map is one of critical research methods which include mid/long term strategies and objectives. There are many of projects conducted using this road map. A technical tree is used at the step of planning of the projects. This research was aimed at reviewing previous systems for conducting researches for and a basis required for improving railway safety in the future by finding out inconsistency arising from physical WBS, which is methodology of defining in existing railway technical trees. In the process of this research, we considered differences between systems safety and prevention as well as natures of them using the established technical tree, and set up plans for improving technical tree to secure railway safety as an integrated system.

• Journal of the Korean Society of Environmental Restoration Technology
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• v.25 no.4
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• pp.49-65
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• 2022

Since trees in the city are green assets that create a healthy environment for the city, systematic management of trees improves urban ecosystem services. The sporadic urban tree information centered on the site is vast, and it is difficult to manage the data, so efforts to increase efficiency are needed. This paper summarizes tree data inventory based on data constructed by Seoul Green Trust activists and constructs and discloses online database maps using Tableau Software. In order to verify the utilization of the map, we divided into consumer and supplier aspects to collect various opinions and reflect feedback to implement tree database maps for each area and species of Seoul Forest. As a result, the utilization value of tree database in urban parks was presented. The technical significance of this study is to systematically record the process of constructing and implementing a dashboard directly using the Mapbox platform and Tableau Software in the field of landscaping for the first time in Korea. In addition, the implications and supplements of landscape information were derived by collecting user opinions on the results. This can be used as an exploratory basis in the process of developing online-based services such as web and apps by utilizing landscaping tree information in the future. Although the visualization database currently constructed has limitations that ordinary users cannot interact in both directions because it utilizes business intelligence tools in terms of service provision it has affirmed both the database construction and its usability in web public format. In the future it is essential to investigate the assets of the trees in the city park and to build a database as a public asset of the city. The survey participants positively recognized that information is intuitively presented based on the map and responded that it is necessary to provide information on the overall urban assets such as small parks and roadside trees by using open source maps in the future.

• Journal of Forest and Environmental Science
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• v.33 no.4
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• pp.348-354
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• 2017

Agroforestry has been practiced in arid and semi-arid regions for the purposes of preventing desertification and to increase income for locals. However, the intended effects of such practices have been limited due to strong winds and aridity. This study undertook multi-year monitoring of the productivity of income crops associated with windbreak planting in a semi-arid region of Mongolia, and explored strategies of windbreak planning to enhance the multi-purpose effects of agroforestry practices. The tree crown density of windbreak planting was on average 40% in one year after planting and 65% 2-3 years after, and thereby windspeeds were reduced by about 30% and 54%, respectively. Average windspeed reductions at leeward distances from the windbreak planting were approximately 60% within 3H (H=tree height), 50% at 5H, and 42% at 7-9H, presenting a pattern in which the farther the distance the less the reduction in windspeeds. The windbreak planting increased crop productivity by up to 6.8 times, compared to the productivity absent of windbreaks. Increases in the crown density as stated above resulted in increases of crop productivity by up to 3.6 times. Based on such results, this study proposed a model of windbreak planning as a typical land-use system of border windbreak planting or alternate windbreak planting of combining trees and income crops. The model also included tree planting with a crown density of 60% and allocation of income crops within a leeward distance of 5 times the height of the trees to reduce windspeeds by about 50%. The results from this study are applicable to practicing agroforestry not only at the study site but also in other regions worldwide where strong winds and aridity are problematic.

• Journal of Institute of Control, Robotics and Systems
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• v.20 no.12
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• pp.1272-1277
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• 2014

This article describes a path planning algorithm for fixed-wing UAVs when a real terrain should be considered. Nowadays, many UAVs are required to perform mission flights near given terrain for surveillance, reconnaissance, and infiltration, as well as flight altitude of many UAVs are relatively lower than typical manned aerial vehicles. Therefore, real terrain should be considered in path planning algorithms of fixed-wing UAVs. In this research, we have extended a spline-$RRT^*$ algorithm to three-dimensional planner. The spline-$RRT^*$ algorithm is a $RRT^*$ based algorithm, and it takes spline method to extend the tree structure over the workspace to generate smooth paths without any post-processing. Direction continuity of the resulting path is guaranteed via this spline technique, and it is essential factor for the paths of fixed-wing UAVs. The proposed algorithm confirm collision check during the tree structure extension, so that generated path is both geometrically and dynamically feasible in addition to direction continuity. To decrease degrees of freedom of a random configuration, we designed a function assigning directions to nodes of the graph. As a result, it increases the execution speed of the algorithm efficiently. In order to investigate the performance of the proposed planning algorithm, several simulations are performed under real terrain environment. Simulation results show that this proposed algorithm can be utilized effectively to path planning applications considering real terrain.

• ETRI Journal
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• v.15 no.3
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• pp.47-59
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• 1994

A capacity expansion planning problem with buy-or-lease decisions is considered. Demands for capacity are deterministic and are given period-dependently at each period. Capacity additions occur by buying or leasing a capacity, and leased capacity at any period is reconverted to original source after a fixed length of periods, say, lease period. All cost functions (buying, leasing and idle costs) are assumed to be concave. And shortages of capacity and disposals are not considered. The properties of an optimal solution are characterized. This is then used in a tree search algorithm for the optimal solution and other two algorithms for a near-optimal solution are added. And these algorithms are illustrated with numerical examples.