• 대한전기학회논문지:시스템및제어부문D
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• 제49권1호
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• pp.33-40
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• 2000

In this paper, an integrated method for the path planning and motion control of wheeled mobile robots using a hybrid system model and control is presented. The hybrid model including the continuous dynamics and discrete dynamics with the continuous and discrete state vector is derived for a two wheel driven mobile robot. The architecture of the hybrid control system for real time path planning and following is designed which has the 3-layered hierarchical structure : the discrete event system using the digital automata as the higher process, the continuous state system for the wheel velocity controls as the lower process, and the interface system as the interaction process between the continuous system as the low level and the discrete event system as the high level. The reference motion commands for autonomous navigation are generated by the abstracted motion in the discrete event system. The motion control tasks including the feasible path planning and autonomous motion control with various initial conditions are investigated as the applications by the simulation studies.

• 한국항공우주학회지
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• 제47권6호
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• pp.429-437
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• 2019

본 논문에서는 이동표적을 요격하기 위한 ZEM(Zero-Effort-Miss) 기반의 유도법칙과 잔여시간(Time-to-go) 추정에 따른 유도명령의 특징을 살펴본다. 먼저, 가속도 명령을 미지수 계수를 포함한 잔여시간의 다항식 함수로 가정하고 이를 초기/종말 구속조건을 충족하도록 계수를 산출함으로써, 최종적으로 ZEM 벡터 되먹임 형태의 호밍 유도명령을 도출한다. 잔여시간의 추정방법에 따라 ZEM 벡터와 유도명령의 벡터방향이 결정되는 특징을 가지므로, 임의의 기준좌표계에 수직/수평하게 가속도 명령을 발생시키기 위한 일반적인 잔여시간 추정방법을 제안한다. 또한 제안한 유도법칙과 잔여시간 추정기법의 성능과 특징을 분석하기 위해 다양한 수치시뮬레이션을 수행하도록 한다.

• 한국컴퓨터정보학회논문지
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• 제10권5호
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• pp.77-86
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• 2005

본 논문에서는 분류오차를 추출하고 학습하여 분류성능을 개선하는 LVQ 학습 알고리즘을 설계하였다. 제안된 LVQ학습 알고리즘은 초기기준백터의 학습을 위해 SOM을 이용하고, LVQ 출력뉴런의 부류지정을 위하여 out-star 학습법을 사용하는 학습네트워크이다. 분류오차가 발생되는 패턴백터로 추출하기 위하여 오차유발조건을 제안하였고, 이 조건을 이용하여 분류오차를 유발시키는 입력패턴벡터로 구성되는 패턴백터공간을 구성하여 분류오차가 발생되는 패턴백터를 학습시키므로 분류오차수를 감소시키고, 패턴분류성능을 개선하였다. 제안된 학습알고리즘의 성능을 검증하기 위하여 Fisher의 Iris 데이터와 EMG 데이터를 학습백터 및 시험 백터로 사용하여 시뮬레이션 하였고, 제안된 학습방식의 분류 성능은 기존의 LVQ와 비교되어 기존의 학습방식보다 우수한 분류성공률을 확인하였다.

• 한국측량학회지
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• 제25권6_1호
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• pp.507-516
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• 2007

Segmentation and organization of the LiDAR (Light Detection and Ranging) data of the Earth's surface are difficult tasks because the captured LiDAR data are composed of irregularly distributed point clouds with lack of semantic information. The reason for this difficulty in processing LiDAR data is that the data provide huge amount of the spatial coordinates without topological and/or relational information among the points. This study introduces LiDAR data segmentation technique by utilizing histograms of the LiDAR height image data and analyzing roof shape for 3D reconstruction and visualization of the buildings. One of the advantages in utilizing LiDAR height image data is no registration required because the LiDAR data are geo-referenced and ortho-projected data. In consequence, measurements on the image provide absolute reference coordinates. The LiDAR image allows measurement of the initial building boundaries to estimate locations of the side walls and to form the planar surfaces which represent approximate building footprints. LiDAR points close to each side wall were grouped together then the least-square planar surface fitting with the segmented point clouds was performed to determine precise location of each wall of an building. Finally, roof shape analysis was performed by accumulated slopes along the profiles of the roof top. However, simulated LiDAR data were used for analyzing roof shape because buildings with various shapes of the roof do not exist in the test area. The proposed approach has been tested on the heavily built-up urban residential area. 3D digital vector map produced by digitizing complied aerial photographs was used to evaluate accuracy of the results. Experimental results show efficiency of the proposed methodology for 3D building reconstruction and large scale digital mapping especially for the urban area.