• Advances in nano research
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• v.13 no.6
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• pp.587-597
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• 2022

In the present study, a novel optimization method in formation control of multi -system vehicles based on the trajectory of the nearest neighbor trajectory is presented. In this regard, the state equations of each vehicle and multisystem is derived and the optimization scheme based on minimizing the differences between actual positions and desired positions of the vehicles are conducted. This formation control is a position-based decentralized model. The trajectory of the nearest neighbor are optimized based on the current position and state of the vehicle. This approach aids the whole multi-agent system to be optimized on their trajectory. Furthermore, to overcome the cumulative errors and maintain stability in the network a semi-centralized scheme is designed for the purpose of checking vehicle position to its predefined trajectory. The model is implemented in Matlab software and the results for different initial state and different trajectory definition are presented. In addition, to avoid collision avoidance and maintain the distances between vehicles agents at a predefined desired distances. In this regard, a neural fuzzy network is defined to be utilized in conjunction with the control system to avoid collision between vehicles. The outcome reveals that the model has acceptable stability and accuracy.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.39C no.8
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• pp.688-695
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• 2014

In a small wireless environment, such as your home or office, a various network using WiMedia PHY can be mixed. Because these networks operate independently for each application, data conflict can occur between adjacent networks. To avoid data conflict, the resource in a different time zone can be utilized. However, if devices in a network increase, available resources in the network decrease, and then the lack of resources necessary to provide service can occur. To solve this problem, we propose collision avoidacne scheme for coexistence of various UWB systems. In this paper, we evaluate the performance of the proposed scheme through simulation.

• The Journal of the Korea institute of electronic communication sciences
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• v.10 no.8
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• pp.915-920
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• 2015

Recently, many companies try to offer various services using drones. Especially, the drone delivery system is a good example. However, the drone delivery service has some problems since the heavy parcels flies over the people walking down streets, so many things must be considered such as dropping mails by collision of drones. To resolve the problem, in this paper, a inter-drone network communication will be used to design the topology and to simulate in the Opnet simulator for the performance evaluation. Additionally, the topology with random mobility of trajectory of drones is also designed and simulated for the result.

• Journal of Institute of Control, Robotics and Systems
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• v.17 no.5
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• pp.405-411
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• 2011

This paper presents a hierarchical trajectory planning method which can handle a collision-free of the planned path in complex and dynamic environments. A PV (Path & Velocity profile) planning method minimizes a sharp change of orientation and waiting time to avoid a collision with moving obstacle through detour path. The path generation problem is solved by three steps. In the first step, a smooth global path is generated using $A^*$ algorithm. The second step sets up the velocity profile for the optimization problem considering the maximum velocity and acceleration. In the third step, the velocity profile for obtaining the shortest path is optimized using the fuzzy and genetic algorithm. To show the validity and effectiveness of the proposed method, realistic simulations are performed.

• Proceedings of the Korean Institute of Navigation and Port Research Conference
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• 2023.05a
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• pp.194-195
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• 2023

Recently, Maritime Autonomous Surface Ship(MASS) technology has attracted attention as a key technology for ship safety, efficiency, and economic feasibility in the marine field. Decision-making by the navigator's Situation Awareness (SA) for remote control on shore is expected to play an important role in ship collision avoidance. In this study, the navigator's decision-making time for the collision situation was measured.

• Proceedings of the Korea Information Processing Society Conference
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• 2015.10a
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• pp.393-395
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• 2015

IEEE 802.11 무선 랜은 단말들 간의 채널을 공유하기 위해 CSMA/CA(Carrier Sense Multiple Access with Collision Avoidance) 기반의 DCF(Distributed Coordination Function) 프로토콜을 제공한다. DCF는 네트워크상의 단말수가 증가할수록 충돌 확률이 증가하여 전체적인 성능 감소를 야기한다. 이는 네트워크에 있는 모든 단말이 동시에 채널 경쟁을 하기 때문이다. 충돌 확률을 줄이고 성능을 향상시키기 위해 단말을 여러 그룹으로 나누고 각 그룹에 속하는 단말들간 채널 경쟁을 수행하는 가상 그룹 방법이 제안되었다. 그러나 가상 그룹 방법은 각 단말이 독립적으로 그룹 수를 결정하고 자신이 어느 그룹에 속해 동작할지 결정한다. 따라서 단말마다 서로 그룹 수가 다를 수 있고 단말이 하나도 포함되지 않은 그룹이 존재할 수 있다. 즉, 가상 그룹 방법은 단말간 공평성 문제가 있고 오동작 가능성이 있다. 이 문제를 해결하기 위해 본 논문에서는 비지톤과 타이머를 이용하여 단말간 동기화를 맞춰 그룹 수 및 자신의 그룹 번호를 독립적으로 결정하는 방법을 제안한다. 그룹 수는 현재 채널 경쟁 수준을 고려하여 결정한다. 단말들의 그룹화를 통해 충돌확률을 줄이고 네트워크 성능을 향상시킨다.

• Journal of Auto-vehicle Safety Association
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• v.6 no.1
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• pp.27-32
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• 2014

A study assessing driver acceptance level for various active safety systems against Korean drivers has been conducted. A 2013 Cadillac ATS model vehicle was tested along southern outskirt of Seoul including local roadway and interurban highway. Active safety systems included were FCA(Forward Collision Alert), LDW(Lane Departure Warning), SBZA(Side Blind Zone Alert), FRPA(Front/Rear Park Assist), RCTA(Rear Cross Traffic Alert), ACC(Adaptive Cruise Control), and AEB(Autonomous Emergency Braking). Participants experienced the FRPA, RCTA and AEB features in a controlled parking lot with a dummy vehicle and traffic cones as target obstacles. Remaining features have been tested on the accumulated stretched of 106 km long urban and interurban roadway. Series of questionnaires corresponding to each active safety systems have been conducted. Tentative results revealed that RCTA and SBZA systems received favourable ratings compared to the other ones.

• Journal of Korea Multimedia Society
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• v.12 no.7
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• pp.962-970
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• 2009

This paper presents a data gathering and scheduling scheme for wireless sensor networks. We use a data gathering tree for sending the data from the sensor node to the base station. For an energy efficient operation of the sensor networks in a distributed manner, a time tree is built in order to reduce the collision probability and to minimize the total energy required to send data to the base station. A time tree is a data gathering tree where the base station is the root and each sensor node is either a relaying or a leaf node of the tree. Each tree operates in a different time schedule with possible different activation rate. Through the simulation, we found that the proposed scheme that uses time trees shows better characteristics in energy and data arrival rate when compared with other schemes such as SMAC and DMAC.

• Journal of Practical Engineering Education
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• v.9 no.1
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• pp.7-13
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• 2017

This study will provide a practical plan of engineering education through the study of major activities connected with the production of works to accomplish the graduation conditions by completing the comprehensive design subject and the result of the performance. The designed subject is to measure the minimum safety distance during driving using the obstacle detection function of the ultrasonic sensor and to perform the avoidance algorithm based on the measurement value of the acceleration gyro sensor. It is proposed an access surveillance system that minimizes the damage of drones, surrounding objects, and people, and improves air mobility. Experimental results show that the obstacles around the drone are detected by five ultrasonic sensors and the difference of output value is applied to each motor of the drone and obstacle avoidance is confirmed. In addition, the content and level of the data for measuring the achievement of learning achievement in the engineering education certification program were used and the results were confirmed to be consistent with the description of the engineering problem level required for the graduates of 4-year engineering college.

• Journal of Institute of Control, Robotics and Systems
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• v.20 no.8
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• pp.807-814
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• 2014

In this paper, we proposed a haptic navigation system which used the tactile data for the user guides of the mobile robot to the reference point via tele-operation in unknown blind environment. This navigation system can enable a mobile robot to avoid obstacles and move to the reference point, according to the direction provided by the device guides through a haptic device consisting of a vibration motor in a blind environment. There are a great deal of obstacles in real environments, and so mobile robots can avoid obstacles by recognizing the exact position of each obstacle through the superposition of an ultrasonic sensor. The navigation system determines the direction of obstacle avoidance through an avoidance algorithm that uses virtual impedance, and lets users know the position of obstacles and the direction of the avoidance through the haptic device consisting of 5 vibration motors. By letting users know intuitionally, it lets the mobile robot precisely reach the reference point in unknown blind environment. This haptic device can implement a haptic navigation system through the tactile sensor data.