• Journal of the Korean Society for Aviation and Aeronautics
• /
• v.27 no.2
• /
• 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.

• Proceedings of the KIEE Conference
• /
• 2005.10b
• /
• 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.

• Journal of the Korean Society for Precision Engineering
• /
• v.13 no.6
• /
• 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.

• Journal of the Korean Solar Energy Society
• /
• v.23 no.4
• /
• 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.

• Journal of the Korean Institute of Intelligent Systems
• /
• v.22 no.6
• /
• pp.687-693
• /
• 2012

In this paper, we propose a optimal deployment method for cooperative exploration of swarm robots. The proposed method consists of two parts such as optimal deployment and path planning. The optimal area deployment is proposed by the K-mean Algorithm and Voronoi tessellation. The path planning is proposed by the potential field method and A* Algorithm. Finally, the numerical experiments demonstrate the effectiveness and feasibility of the proposed method.

• Journal of the Korean Society for Aeronautical & Space Sciences
• /
• v.47 no.5
• /
• pp.379-387
• /
• 2019

The complexity of path planning for visiting multiple mission points is even larger than that of single pair path planning. Deciding a path for visiting n mission points requires conducting $n^2+n$ times of single pair path planning. We propose Multiple Mission $D^*$ Lite($MMD^*L$) which is an optimal path planning algorithm for visiting multiple mission points in dynamic environments. $MMD^*L$ reduces the complexity by reusing the computational data of preceding single pair path planning. Simulation results show that the complexity reduction is significant while its path optimality is not compromised.

• Proceedings of the Korean Institute of Intelligent Systems Conference
• /
• 2007.11a
• /
• 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].

• Journal of environmental and Sanitary engineering
• /
• v.18 no.3 s.49
• /
• 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.

• Magazine of the Korean Society of Agricultural Engineers
• /
• v.40 no.2
• /
• 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
• /
• 1996.10b
• /
• 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.