• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1989년도 한국자동제어학술회의논문집; Seoul, Korea; 27-28 Oct. 1989
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• pp.154-159
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• 1989

This paper presents a motion planning algorithm for conveyor tracking. We formulate the problem as the linear quadratic tracking problem in optimal control theory and solve it through dynamic programming. In the proposed algorithm, the steady-state tracking error is eliminated completely, and the joint torque, velocity, acceleration, and jerks are considered as some constraints. Numerical examples are then presented to demonstrate the utility of the proposed motion planning algorithm.

• 대한전자공학회:학술대회논문집
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• 대한전자공학회 2006년도 하계종합학술대회
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• pp.939-940
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• 2006

Many researches on path planning and obstacle avoidance for the fundamentals of mobile robot have been done. In this paper, we propose the algorithm of path planning and obstacle avoidance for mobile robot. We call the proposed method Random Access Sequence(RAS) method. RAS method using obstacle information from variable sensors is useful to get minimum path length to goal.

• 전기학회논문지
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• 제61권7호
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• pp.957-965
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• 2012

Korean government has been preparing the introduction of Emission Trading as part of the framework convention on Climate Change as a relief of negative downstream effect over electricity industry. This paper develops a mathematical model amenable to analyzing the economic impact of introduced emission trading system on the national generation expansion planning. The developed model was also employed with a case study to verify its applicability.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2006년도 추계학술대회 논문집 전력기술부문
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• pp.164-166
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• 2006

Wien Automatic System Planning Package (WASP) which is used to draw out generation expansion planning applies Dynamic Programming in Korea power system panning. While this package has an advantage that computes annual capacity, it has a disadvantage that can't consider environmental constraints. With the effectuation of the Kyoto Protocol in February, 2005, it is expected that CO2 emission has a severe effect on Korean power system. Therefore, as the most important issue, the generation expansion planning considering environmental constraints is rising in power system. This paper develops a mathematic model including not only generation expansion planning but transmission planning and considering regional supply-demand and environmental constraints, especially CO2 emission, and verifies propriety through the case study.

• 한국산업융합학회 논문집
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• 제19권2호
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• pp.75-80
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• 2016

This study proposes a efficient technology to control the optimal trajectory planning and real-time implementation method which can perform autonomous travelling for unmaned factory automation. Online path planning should plan and execute alternately in a short time, and hence it enables the robot avoid unknown dynamic obstacles which suddenly appear on robot's path. Based on Route planning and control algorithm, we suggested representation of edge cost, heuristic function, and priority queue management, to make a modified Route planning algorithm. Performance of the proposed algorithm is verified by simulation test.

• 전자통신동향분석
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• 제39권4호
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• pp.10-20
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• 2024

Recent advancements in autonomous flight technologies for Unmanned Aerial Vehicles (UAVs) have greatly expanded their applicability for various tasks, including delivery, agriculture, and rescue. This article presents a comprehensive survey of path planning techniques in autonomous navigation and exploration that are tailored for UAVs. The robotics literature has studied path and motion planning, from basic obstacle avoidance to sophisticated algorithms capable of dynamic decision-making in challenging environments. In this article, we introduce popular path and motion planning approaches such as grid-based, sampling-based, and optimization-based planners. We further describe the contributions from the state-of-the-art in exploration planning for UAVs, which have been derived from these well-studied planners. Recent research, including the method we are developing, has improved performance in terms of efficiency and scalability for exploration tasks in challenging environments without human intervention. On the basis of these research and development trends, this article discusses future directions in UAV path planning technologies, illustrating the potential for UAVs to perform complex tasks with increased autonomy and efficiency.

• 제어로봇시스템학회논문지
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• 제14권2호
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• pp.141-147
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• 2008

In this paper, we present one approach to achieve safe navigation in indoor dynamic environment. So far, there have been various useful collision avoidance algorithms and path planning schemes. However, those algorithms have a fundamental limitation that the robot can avoid only "visible" obstacles. In real environment, it is not possible to detect all the dynamic obstacles around the robot. There exist a lot of "occluded" regions due to the limitation of field of view. In order to avoid possible collisions, it is desirable to consider visibility information. Then, a robot can reduce the speed or modify a path. This paper proposes a safe navigation scheme to reduce the risk of collision due to unexpected dynamic obstacles. The robot's motion is controlled according to a hybrid control scheme. The possibility of collision is dually reflected to a path planning and a speed control. The proposed scheme clearly indicates the structural procedure on how to model and to exploit the risk of navigation. The proposed scheme is experimentally tested in a real office building. The presented result shows that the robot moves along the safe path to obtain sufficient field of view, while appropriate speed control is carried out.

• 한국정보통신학회:학술대회논문집
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• 한국정보통신학회 2021년도 추계학술대회
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• pp.94-96
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• 2021

본 연구는 산업현장에서 사용되는 이동로봇이 익숙하지 못한 환경에서 목적지에 도착할 수 있는 항법 알고리즘을 개발하고자 한다. 이를 위해 동적창 접근(DWA)과 Dijkstra 경로설정 알고리즘을 결합하여 항법 알고리즘을 제안한다. 이를 성능 비교하기 위해 로컬 동적창 접근(LDWA), 글로벌 동적창 접근(GDWA), 고속 탐색 랜덤 트리 (RRT) 알고리즘을 비교 분석한다. LDWA과 GDWA을 적용한 Dijkstra 알고리즘을 활용한 항법 알고리즘을 구현하여 제한된 정보를 이용하여 이동로봇이 목적지에 도달할 수 있도록 한다. 이 알고리즘들의 목적지에 도착할 때까지 걸리는 시간, 장애물 회피와 계산복잡도에 대한 비교 분석한다. 위 알고리즘의 한계를 극복하기 위한 새로운 항법 알고리즘을 제안하고 제시된 최적화된 항법 알고리즘의 산업현장에서의 활용 방안을 모색한다.

• 한국융합학회논문지
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• 제11권9호
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• pp.21-29
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• 2020

최근 디지털 사회의 도래로 다양한 데이터가 폭발적으로 증가하고, 그중 문헌 내 주제어를 도출하는 토픽 모델링에 관한 연구가 활발히 진행되고 있다. 본 논문의 연구목표는 토픽 모델링 방법 중 하나인 DTM(Dynamic Topic Model) 모델을 적용해 D.N.A.(Data, Network, A.I) 분야에 대한 연구동향을 탐색하는데 있다. 실험 데이터는 최근 6년간(2015~2020) ICT(Information and Communication Technology) 분야 중 기술대분류가 SW·AI에 해당하는 연구과제 1,519개 사업에 대해 DTM 모델을 적용하였다. 실험결과로, D.N.A. 분야의 기술 키워드 Big data, Cloud, Artificial Intelligence와 확장된 의미의 기술 키워드 Unstructured, Edge Computing, Learning, Recognition 등이 매년 연구에 표출되었으며, 해당 키워드 들이 특정 연구과제에 종속되지 않고 다른 연구과제에서도 포괄적으로 연구되고 있음을 확인하였다. 끝으로 본 논문의 연구결과는 향후 D.N.A. 분야에 대한 정책기획·과제기획 등 연구개발 기획 과정과 기업의 기술 확보전략·마케팅 전략 등 다양한 곳에 활용될 수 있을 것으로 기대한다.

• International Journal of Control, Automation, and Systems
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• 제5권2호
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• pp.192-199
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• 2007

This paper proposes a new printed circuit board (PCB) assembly planning method for multi-head surface mounters. We present an integer programming formulation for the optimization problem, and propose a heuristic method to solve the large NP-complete problem within a reasonable time. A dynamic programming technique is then applied to the feeder arrangement optimization and placement sequence optimization to reduce the overall assembly time. Comparative simulation results are finally presented to verify the usefulness of the proposed method.