• Journal of the Korea Institute of Military Science and Technology
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• v.16 no.5
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• pp.583-589
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• 2013

In this paper, we proposed a system that efficiently provides support maps which includes the grid based terrain analysis information. To do this, we use the FDB which is defined as a GIS database that contains features with attributes attached to the features. The FDB is composed of a number of features and feature classes. In order to create support maps, it is necessary to classify feature classes that are associated with each support map and to search them in a grid map. The proposed system use a ontology model to classify semantically feature classes and the quad-tree data structure to find them in a grid map quickly. Therefore, our system is expected to be utilized for global path planning of UGV. In this paper, we show the possibility through an experimental implementation.

• Journal of the Korea Institute of Military Science and Technology
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• v.13 no.2
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• pp.171-179
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• 2010

A fundamental technology of UGV(Unmanned Ground Vehicle) to perform a given mission with success in various environment is a path planning method which generates a safe and optimal path to the goal. In this paper, we suggest a local path-planning method of UGV based on the binary map using world model data which is gathered from terrain perception sensors. In specially, we present three core algorithms such as shortest path computation algorithm, path optimization algorithm and path smoothing algorithm those are used in the each composition module of LPP component. A simulation is conducted with M&S(Modeling & Simulation) system in order to verify the performance of each core algorithm and the performance of LPP component with scenarios.

• Journal of the Korea Institute of Military Science and Technology
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• v.12 no.5
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• pp.549-556
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• 2009

One of the basic technology for implementing the autonomy of UGV(Unmanned Ground Vehicle) is a path planning algorithm using obstacle and raw terrain information which are gathered from perception sensors such as stereo camera and laser scanner. In this paper, we propose a generation method of DVGM(Directional Velocity Grid Map) which have traverse speed of UGV for the five heading directions except the rear one. The fuzzy system is designed to generate a resonable traveling speed for DVGM from current patch to the next one by using terrain slope, roughness and obstacle information extracted from raw world model data. A simulation is conducted with world model data sampled from real terrain so as to verify the performance of proposed fuzzy inference system.

• Journal of the Korean association of regional geographers
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• v.15 no.1
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• pp.16-35
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• 2009

This paper is to compare the contexts and old place names in old county maps of Goryeong-hyeon(高靈縣) according to the four types of maps. 23 maps covering Goryeong-hyeon were collected from the old county-map atlas(郡縣地圖帖) and Eupji(邑誌). The first type(named 'picture county map') included 8 county-maps in which information of military, and administrative contents are mainly mapped. The second type(named '1-ri grid system map') included 4 county maps in which information about beacon routes and road systems were regarded as very important. The third type(named '20-ri grid-system map(方眼地圖)' included 4 county-maps which were drawn as same scale with 20-ri(里) grids. The fourth type(named 'local county-map(地方郡縣地圖)' included 5 county maps which were drawn by local mappers. Types of toponyms which were included in maps are different by the propose of map-drawing. In the picture county maps, place names from military, and administrative contents are written. In the 1-ri grid system county maps, place names especially from military and transportation are fluent. In the 20-ri grid system county maps, generic name from natural environment, such as mountains are very fluent. In the local county maps, city-walls and castles are drawn exaggeratively and detailed generic name from warehouses and villages are written in those maps. This study shows that Daedongyeo-jido was drawn on the basis of 20-ri grid system county maps with the supplementation of geographical information.

• Journal of Technologic Dentistry
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• v.31 no.3
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• pp.87-103
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• 2009

The objective of the research which it sees life style of the individual and is the stroke engineering military merit satisfaction to examine the relationship. That Adler talked, it classified life style with the socially useful type, the ruling type, the getting type and the avoiding type. This governing form of the socially useful type sees, the ruling type grew the getting type and the avoiding type compared to military merit satisfactory boat song. Like this results military merit satisfactory degree of stroke engineering school lifestyle professionalism as dental technician company route period operates with the VIP who is important for is the thing. The research of the program development for the course map and the military merit duty selection map of restricted point and stroke engineering school lifestyle of the research which it sees discussed is necessary. The results are as following. 1. the types of Life-style ; the ruling type 31.3%, the getting type & the avoiding type 27.4%, the negative social type 26.6%, the socially useful type 14.8%. 2. the Major satisfaction ; the socially useful type 3.59, the ruling type 3.55, the negative social type 3.51, the getting type and the avoiding type 3.35. 3. the Campus life satisfaction ; the socially useful type 3.39, the ruling type 3.32, the negative social type 3.24, the getting type and the avoiding type 3.12.

• Journal of the Korea Institute of Military Science and Technology
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• v.14 no.4
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• pp.539-547
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• 2011

In this paper, a method of generating path planning map is developed using digitalized geographic information such as FDB(Feature DataBase). FDB is widely used by the Army and needs to be applied to all weapon systems of newly developed. For the autonomous navigation of a robot, it is necessary to generate a path planning map by which a global path can be optimized. First, data included in FDB is analyzed in order to identify meaningful layers and attributes of which information can be used to generate the path planning map. Then for each of meaningful layers identified, a set of values of attributes in the layer is converted into the traverse cost using a matching table in which any combination of attribute values are matched into the corresponding traverse cost. For a certain region that is gridded, i.e., represented by a grid map, the traverse cost is extracted in a automatic manner for each gird of the region to generate the path planning map. Since multiple layers may be included in a single grid, an algorithm is developed to fusion several traverse costs. The proposed method is tested using a experimental program. Test results show that it can be a viable tool for generating the path planning map in real-time. The method can be used to generate other kinds of path planning maps using the digitalized geographic information as well.

• Journal of the Korea Institute of Military Science and Technology
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• v.23 no.5
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• pp.494-501
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• 2020

When we develop an OpenGL-based coastline map that displays the high resolution data of GSHHG, it takes tens of seconds until the first scene is rendered. That is because it takes time to tessellate polygons with a huge number of vertices. A commonly used solution is that it converts original data to a customized data in advance, and it displays these. But if we should use original data to display a coastline map, we need to find another solution. In this paper we suggest using a polygon splitting technique to minimize tessellation time. In order to prove its effectiveness, we implemented a software applied this technique and measured its performance. The software applied this technique took a few seconds to display the first scene and we confirmed its effectiveness.

• Journal of the Korea Institute of Military Science and Technology
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• v.19 no.6
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• pp.779-788
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• 2016

In this paper, a global path replanning method is proposed in order to plan a global path minimizing the risk of the unmanned vehicle on the battlefield. We first introduce 4D environmental information consisting of mobility, visibility, kill, and hit attributes, and a unified threat map and a mobility map are defined by the four attributes. Using the mobility map, the unmanned vehicle can find the shortest path on the traversable area. And then taking into account the deterrent according to the type of the unmanned vehicle on the integrated threat map, the vehicle can generate a route to suppress or avoid the threat of enemy as well. Moreover, we present a waypoints bypassing method to exclude unnecessary waypoints rather than the mission point when planning paths for the multiple waypoints.

• Journal of the Korea Institute of Military Science and Technology
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• v.13 no.2
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• pp.180-187
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• 2010

In this paper, a global path generation method is suggested using multiple grid maps connected with the mission type of unmanned combat vehicle(UCV). In order to carry out a mission for UCV, it is essential to find a global path which is coincident with the characteristics of the mission. This can be done by considering various combat circumstances represented as grid maps such as velocity map, threat map and communication map. Cost functions of multiple grid maps are linearly combined and normalized to them simultaneously for the path generation. The proposed method is realized using $A^*$, a well known search algorithm, and cost functions are normalized in the ratio of the traverse time which is one of critical information should be provided with the operators using the velocity map. By the experiments, it is checked found global paths match with the mission type by reflecting input data of grid maps properly and the computation time is short enough to regenerate paths in real time as combat circumstances change.

• Journal of the Korea Institute of Military Science and Technology
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• v.14 no.3
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• pp.327-334
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• 2011

It is necessary that UGV(Unmanned Ground Vehicle) should generate a real-time travesability index map by analyzing raw terrain information to travel autonomously tough terrain which has various slope and roughness values. In this paper, we propose a local path planning method, $MA^*$(Modified $A^*$) algorithm, using DVGM (Directional Velocity Grid Map) for unmanned ground vehicle. We also present a path optimization algorithm and a path smoothing algorithm which regenerate a pre-planned local path by $MA^*$ algorithm into the reasonable local path considering the mobility of UGV. Field test is conducted with UGV in order to verify the performance of local path planning method using DVGM. The local path planned by $MA^*$ is compared with the result of $A^*$ to verify the safety and optimality of proposed algorithm.