• 한국항공운항학회지
• /
• 제27권2호
• /
• pp.1-8
• /
• 2019

Optimal path planning refers to find the safe route to the destination at a low cost, is a major problem with regard to autonomous navigation. Sampling Based Planning(SBP) approaches, such as Rapidly-exploring Random Tree Star($RRT^*$), are the most influential algorithm in path planning due to their relatively small calculations and scalability to high-dimensional problems. $RRT^*$-Smart introduced path optimization and biased sampling techniques into $RRT^*$ to increase convergent rate. This paper presents an improvement plan that has changed the biased sampling method to increase the initial convergent rate of the $RRT^*$-Smart, which is specified as m$RRT^*$-Smart. With comparison among $RRT^*$, $RRT^*$-Smart and m$RRT^*$-Smart in 2 & 3-D environments, m$RRT^*$-Smart showed similar or increased initial convergent rate than $RRT^*$ and $RRT^*$-Smart.

• 대한전기학회:학술대회논문집
• /
• 대한전기학회 2005년도 학술대회 논문집 정보 및 제어부문
• /
• pp.92-94
• /
• 2005

Unmanned ground vehicles(UGVs) are expected to play a key role in the future army. These UGVs would be used for weapons platforms. logistics carriers, reconnaissance, surveillance, and target acquisition in the rough terrain. Most of path planning methodologies for UGVs offer an optimal or sub-optimal shortest-path in a 20 space. However, those methodologies do not consider increment and reduction effects of relative distance when a UGV climbs up or goes down in the slope of rough terrain. In this paper, we propose a novel path planning methodology using the modified distance transform algorithm. Our proposed path planning methodology employs two kinds of map. One is binary obstacle map. The other is the DEM. With these two maps, the modified distance transform algorithm in which distance between cells is increased or decreased by weighting function of slope is suggested. The proposed methodology is verified by various simulations on the randomly generated DEM and obstacle map.

• 한국정밀공학회지
• /
• 제13권6호
• /
• pp.122-127
• /
• 1996

The achievement of the optimal condition for the task of an industrial articulated robot used in many fields is an important problem to improve productivity. In this paper, a minimum-time trajectory for an articulated robot along the specified path is studied and simulated with a proper example. A general dynamic model of manipulator is represented as a function of path distance. Using this model, the velocity is produced as fast as possible at each point along the path. This minimum-time trajectory planning module together with the existing collision-free path planning modules is utilized to design the optimal path planning of robot in cases where obstacles present.

• 한국태양에너지학회 논문집
• /
• 제23권4호
• /
• pp.97-107
• /
• 2003

Recently, the apartment building has been constructed in large quantities to provide housings due to the gravitation of population towards large cities. However, we're faced with a critical problem of deterioration of our dwelling environment caused by the trend toward high-rise apartment which could be an obstruction in obtaining sufficient sunlight. Therefore, there have been several legislative actions against infringement on the right of sunshine. In the building law, sunshine hours and the minimal separated distance between apartments are regulated as the criteria for the site planning, However, the minimal separated distance was defined without consideration of the parameters like building orientation and thermal effect of the sunshine hours in the site planning for the apartment building. In this study, the sunshine hours and heating energy during the underheated season for various arrangements in site planning are carefully considered and analyzed.

• 한국지능시스템학회논문지
• /
• 제22권6호
• /
• pp.687-693
• /
• 2012

본 논문에서는 군집로봇의 효과적인 협조탐색을 위한 탐색영역에 대한 군집로봇의 최적배치을 제안한다. 먼저, 탐색영역에 대한 최적의 배치를 위해 보로노이 테셀레이션과 K-mean 알고리즘을 이용하여 탐색영역을 분할한다. 분할된 영역을 안전한 주행을 위해 전역경로계획과 지역경로계획을 한다. 전역경로계획은 A*알고리즘을 이용하여 전역경로계획을 하여 최적의 전역경로를 찾고, 지역경로계획은 포텐셜 필드방법을 이용하여 장애물 회피 통해 안전하게 목표점에 이르게 한다. 마지막으로 제안한 알고리즘은 시물레이션을 통해 그 응용가능성을 검토한다.

• 한국항공우주학회지
• /
• 제47권5호
• /
• pp.379-387
• /
• 2019

다중 임무점 방문을 위한 경로 계획의 복잡도는 단일 구간 경로 계획을 위한 복잡도보다 크게 더 높다. n개의 다중 임무점을 방문하는 경로 계획을 위해서는 $n^2+n$번의 단일 구간 경로 계획이 필요하다. 본 논문에서는 동적 변화 환경에서 다중 임무점을 방문하기 위한 최적의 경로 계획 알고리즘인 Multiple Mission $D^*$ Lite($MMD^*L$) 알고리즘을 제안하였다. $MMD^*L$은 앞서 수행된 단일 구간 경로 계획 정보를 재사용함으로써 복잡도를 감소시킨다. 시뮬레이션 결과를 통해 경로의 최적성은 양보하지 않으면서도 복잡도가 급격하게 감소하였음을 확인하였다.

• 한국지능시스템학회:학술대회논문집
• /
• 한국지능시스템학회 2007년도 추계학술대회 학술발표 논문집
• /
• pp.176-179
• /
• 2007

In this paper, we develop the path planning algorithm using the improved Dijkstra algorithm and the particle swarm optimization. To get the optimal path, at first we construct the MAKLINK on the world environment and then make a graph associated with the MAKLINK. From the graph, we obtain the Dijkstra path between the starting point and the destination point. From the optimal path, we search the improved Dijkstra path using the graph. Finally, applying the particle swarm optimization to the improved Dijkstra path, we obtain the optimal path for the mobile robot. It turns out that the proposed method has better performance than the result in [1].

• 환경위생공학
• /
• 제18권3호통권49호
• /
• pp.11-20
• /
• 2003

There are two ways of reducing air pollution. One is the approach of the pollutant source control and the other one is the traffic demand decreasing approach. This study is focusing on the approach of land use planning and optimal location of urban facilities because those are the basic cause to generate transportation demands. So, the purpose of this study would be to analyze the changes of NOx and CO distribution on environmental air by functional hierarchy of urban roads and to make evaluation model of 'Transportation-Land Use -Air Pollution'. It will contribute to improve the air pollution level at same actual traffic generation according to different location.

• 한국농공학회지
• /
• 제40권2호
• /
• pp.69-80
• /
• 1998

The optimal reservoir storage capacity is needed to be determined at the stage of reservoir planning. The reservoir storage capacity should be based on water balance between demand and supply, and meet the water deficity during the growing season. However, the optimal reservoir storage capacity should be determined considering benefit-cost analysis for the project. In this study, Two models are developed. The one is the RSOM(Reservoir Storage Optimization Model), that is consisted by three submodels, MROPER (Modified Reservoir OPERation model), RESICO(REservoir SIze and the construction COst computation) model. And the other is the BECA(BEnefit-Cost Anaysis) model. For model application, three districts, Chungha, Ipsil and Edong were selected. The relative difference of B/C ratio between project planning data and estimation by RSOM is 17.9, 15.0 and 7.3% respectively, which may be applicable for water resources development feasibility planning.

• 제어로봇시스템학회:학술대회논문집
• /
• 제어로봇시스템학회 1996년도 한국자동제어학술회의논문집(국내학술편); 포항공과대학교, 포항; 24-26 Oct. 1996
• /
• pp.1136-1139
• /
• 1996

For on-line trajectory planning such as teleoperation it is desirable to keep good manipulability of the robot manipulators since the motion command is not given in advance. To keep good manipulability means the capability of moving any arbitrary directions of task space. An optimization process with different manipulability measures are performed and compared for a redundant robot system moving in 2-dimensional task space, and gives results that the conventional manipulability ellipsoid based on the Jacobian matrix is not good choice as far as the optimal direction of motion is concerned.