• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.39 no.12
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• pp.1124-1132
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• 2011

This paper deals with smooth path generation using B-spline for fixed-wing unmanned aerial vehicles manuevering in 2D environment. Hexagonal cell representation is employed to model the 2D environment, which features increased connectivity among cells over square cell representation. Subsequently, hexagonal cell representation enables smoother path generation based on a discrete sequence of path from the path planner. In addition, we present an on-line path smoothing algorithm incorporating B-spline path templates. The path templates are computed off-line by taking into account all possible path sequences within finite horizon. During on-line implementation, the B-spline curves from the templates are stitched together repeatedly to come up with a reference trajectory for UAVs. This method is an effective way of generating smooth path with reduced on-line computation requirement, hence it can be implemented on a small low-cost autopilot that has limited computational resources.

• Proceedings of the Korea Information Processing Society Conference
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• 2005.05a
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• pp.51-54
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• 2005

This paper proposes an index structure which is used to process X-Path on S-XML data. There are many previous index structures based on tree structure for X-Path processing. Because of general tree index's top-down query fashion, the unnecessary node traversal makes heavy access and decreases the query processing performance. And both of the two query types for X-Path called single-path query and branching query need to be supported in proposed index structure. This method uses a combination of path summary and the node indexing. First, it manages hashing on hierarchy elements which are presented in tag in S-XML. Second, array blocks named path summary array is created in each node of hashing to store the path information. The X-Path processing finds the tag element using hashing and checks array blocks in each node to determine the path of query's result. Based on this structure, it supports both single-path query and branching path query and improves the X-Path processing performance.

• The Transactions of the Korean Institute of Electrical Engineers A
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• v.48 no.11
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• pp.1448-1456
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• 1999

In this paper, we propose a new technique for path-following of the wheeled mobile robot systems with nonholonomic constraints using a path-observer. We discuss the path-following problems of the nonholonomic mobile robot systems which have two nonsteerable, independently driven wheels with the various initial conditions such as a position, a heading angle, and a velocity. It is shown that the performance of dynamic path-following importantly is affected by the intial conditions. Particularly, if the initial conditions become more distant from the desired path and the desired velocity become faster, the system is shown to have worse performance and small time local stable. To find the controllable and stable control for path-following with various initial configuration, we propose the path-observer which can be used for control of the stable path-following of nonholonomic mobile robot system with the various initial conditions. The proposed scheme exhibits the efficient path-following properties for nonholonomic mobile robot in any intial conditions. The simulation results demonstrate the effectiveness of the proposed method for dynamic path-following tasks with the various initial conditions.

• Korean Journal of Computational Design and Engineering
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• v.9 no.4
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• pp.286-293
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• 2004

Recently, hot processing using the heat source like laser machining and RFS was developed and spreaded gradually. In order to generate tool-path for the proper hot tool, a new tool-path linking algorithm is needed because tool-path linking algorithm for machining can't be applied. In this paper, zigzag tool-path liking algorithm was proposed to generate tool-path automatically for RFS. The algorithm is composed of three steps: 1) Generating valid tool-path element, 2) Storing tool-path elements and creating sub-groups, 3) linking sub-groups. Using the proposed algorithm, CAD/CAM software for the tool-path generation of hot tool was developed. The proposed algorithm was applied and verified for Venus's face and die of cellular phone case.

• Proceedings of the KIEE Conference
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• 1998.07g
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• pp.2342-2344
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• 1998

In this paper, the path planner is presented for a robot to achieve an efficient path forward the given goal position in two dimensional environment which is involved with partially unknown obstacles. The path planner consists of three major components: off-line path planning, on-line path planning, and modification of planned path. Off-line path planning is based on known environment and creates the shortest path. On-line path planning is for finding unknown obstacles. The modification can be accomplished, by genetic algorithm, to be smooth path for preventing slippage and excessive centrifugal force.

• 제어로봇시스템학회:학술대회논문집
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• 2000.10a
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• pp.418-418
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• 2000

This paper proposes a path planning algorithm for mobile robot. To generate an optimal path and minimum time path for a mobile robot, we use the Genetic Algorithm(GA) and Visibility Graph. After finding a minimum-distance between start and goal point, the path is revised to find the minimum time path by path-smoothing algorithm. Simulation results show that the proposed algorithms are more effective.

• Proceedings of the KIEE Conference
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• 1996.11a
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• pp.383-385
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• 1996

In this paper, the dynamic path-following using the path-observer is proposed to improve the stability when initial position errors are considered. The dynamic path-following without the path-observer cannot follow reference path when initial position errors are large, so we propose the path-observer method. Finally, the results of simulation will be described.

• Proceedings of the Korean Operations and Management Science Society Conference
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• 2006.11a
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• pp.60-66
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• 2006

This paper presents a new algorithm for the K shortest path problem in a directed network. After a shortest path is produced with Dijkstra algorithm, detouring paths through inward arcs to every vertex of the shortest path are generated. A length of a detouring path is the sum of both the length of the inward arc and the difference between the shortest distance from the origin to the head vertex and that to the tail vertex. K-1 shorter paths are selected among the detouring paths and put into the set of K paths. Then detouring paths through inward arcs to every vertex of the second shortest path are generated. If there is a shorter path than the current Kth path in the set, this path is placed in the set and the Kth path is removed from the set, and the paths in the set is rearranged in the ascending order of lengths. This procedure of generating the detouring paths and rearranging the set is repeated for the K-1 st path of the set. This algorithm can be applied to a problem of generating the detouring paths in the navigation system for ITS and also for vehicle routing problems.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• v.9 no.1
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• pp.671-674
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• 2005

This paper describes the development of an optimal maze path game as web-based game contents. Client suer using web can access and run java applet program with download of java byte code with the independence of hardware system. The optimal maze path game developed in this paper consists of random maze path generation module, selected path input module, weighted optimal path search module, and path comparison module, selected path input module, weighted optimal path search module, and path comparison module. It enhances the cognition faculty of game users with the comparison of the maze path searched by optimal path search algorithm and the selected maze path by game users.

• Journal of the Society of Naval Architects of Korea
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• v.50 no.5
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• pp.298-306
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• 2013

Nowadays, a transporter manager plans the schedule of the block transportation by considering the experience of the manager, the production process of the blocks and the priority of the block transportation in shipyard. The schedule planning of the block transportation should be rearranged for the reflection of the path blocking cases occurred by unexpected obstacles or delays in transportation. In this paper, the optimal block transportation path planning system is developed for rearranging the schedule of the block transportation by considering the damaged path. $A^*$ algorithm is applied to calculate the new shortest path between the departure and arrival of the blocks transported through the damaged path. In this algorithm, the first node of the damaged path is considered as the starting position of the new shortest path, and then the shortest path calculation is completed if the new shortest path is connected to the one of nodes in the original path. In addition, the data structure for the algorithm is designed. This optimal block transportation path planning system is applied to the Philippine Subic shipyard and the ability of the rapid path modification is verified.