• The Journal of Korea Robotics Society
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• v.14 no.4
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• pp.285-292
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• 2019

Path planning is an important problem to solve in robotics and there has been many related studies so far. In the previous research, we proposed the Heterogeneous-Ants-Based Path Planner (HAB-PP) for the global path planning of mobile robots. The conventional path planners using grid map had discrete state transitions that constrain the only movement of an agent to multiples of 45 degrees. The HAB-PP provided the smoother path using the heterogeneous ants unlike the conventional path planners based on Ant Colony Optimization (ACO) algorithm. The planner, however, has the problem that the optimization of the path once found is fast but it takes a lot of time to find the first path to the goal point. Also, the HAB-PP often falls into a local optimum solution. To solve these problems, this paper proposes an improved ant-inspired path planner using the Rapidly-exploring Random Tree-star ($RRT^*$). The key ideas are to use $RRT^*$ as the characteristic of another heterogeneous ant and to share the information for the found path through the pheromone field. The comparative simulations with several scenarios verify the performance of the improved HAB-PP.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.37 no.5
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• pp.609-617
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• 2013

This paper presents a near-minimum time path planning algorithm for autonomous driving. The problem of near-minimum time path planning is an optimization problem in which it is necessary to take into account not only the geometry of the circuit but also the dynamics of the vehicle. The path planning algorithm consists of a candidate path generation and a velocity optimization algorithm. The candidate path generation algorithm calculates the compromises between the shortest path and the path that allows the highest speeds to be achieved. The velocity optimization algorithm calculates the lap time of each candidate considering the vehicle driving performance and tire friction limit. By using the calculated path and velocity of each candidate, we calculate the lap times and search for a near-minimum time path. The proposed algorithm was evaluated via computer simulation using CarSim and Matlab/Simulink.

• The Journal of the Korea institute of electronic communication sciences
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• v.8 no.1
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• pp.149-157
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• 2013

This paper describes a global path planning method and path optimization algorithm for autonomous mobile robot based on the virtual elastic force in a grid map environment. A goal of a path planning is information for a robot to go its goal point from start point by a effective way. The AStar algorithm is a well-known method for a grid based path planning. This paper suggest a path optimization method by a virtual elastic force and compare the algorithm with a orignal AStar method. The virtual elastic force makes a shorter and smoother path. It is a profitable algorithm to optimize a path in a grid environment.

• Proceedings of the KIEE Conference
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• 2003.11b
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• pp.219-222
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• 2003

본 논문에서는 주어진 자동화 시스템에 대하여 Critical Path 기법을 적용한 최적화 연구를 수행하였다. 탄약 운반 자동화 시스템에 대하여 공정순서와 시간개념이 들어간 Timed Petri-Net을 이용한 이산사건 공정모델을 구축하였으며, 이를 기초로 초기조건 및 제약조건을 고려하여 제악탐색기법을 이용하여 Critical Path를 찾고 여유 공정을 산출항으로써 공정 시간 최적화를 수행하였다.

• Journal of the Korean Society for Precision Engineering
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• v.19 no.10
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• pp.66-76
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• 2002

Automated welding and soldering are an important manufacturing issue in order to lower the cost, increase the quality, and avoid labor problems. An off-line programming, OLP, is one of the powerful methods to solve this kind of diversity problem. Unless an OLP system is ready for the path optimization in welding and soldering, the waste of time and cost is unavoidable due to inefficient paths in welding and soldering processes. Therefore, this study attempts to obtain path optimization using a genetic algorithm based on artificial intelligences. The problem of welding path optimization is defined as a conventional TSP (traveling salesman problem), but still paths have to go through welding lines. An improved genetic algorithm was suggested and the problem was formulated as a TSP problem considering the both end points of each welding line read from database files, and then the transit problem of welding line was solved using the improved suggested genetic algorithm.

• Journal of the Korean Institute of Intelligent Systems
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• v.18 no.4
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• pp.566-571
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• 2008

In this paper, we propose a footstep planning method of biped robot based on the Particle Swarm Optimization(PSO). We define configuration and locomotion primitives for biped robots in the 2 dimensional workspace. A footstep planning method is designed using learning process of PSO that is initialized with a population of random objects and searches for optima by updating generations. The footstep planner searches for a feasible sequence of locomotion primitives between a starting point and a goal, and generates a path that avoids the obstacles. We design a path optimization algorithm that optimizes the footstep number and planning cost based on the path generated in the PSO learning process. The proposed planning method is verified by simulation examples in cluttered environments.

• 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 Korean Society of Agricultural Engineers
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• v.49 no.6
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• pp.37-46
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• 2007

In designing the structure, the stress path is the basic data. But the stress path is not standardized to analysis the structure. So the one-dimensional frame element structure model with the triangle irregular network is used to solve the problem. And the refined evolutionary structural optimization(RESO) used in structural topology optimization is applied to this study. Through this process, the search method of the stress path is advanced and the burden of the calculation. is reduced.

• Proceedings of the KIEE Conference
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• 2007.10a
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• pp.311-312
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• 2007

This paper proposes a new algorithm for path planning and obstacles avoidance using the ant colony optimization algorithm. The proposed algorithm is a new hybrid algorithm that composes of the ant colony algorithm method and the Maklink graph method. At first, we produce the path of a mobile robot a the static environment. And then we find midpoints of each path using the Maklink graph. Finally the ant colony optimization algorithm is adopted to get a shortest path. In this paper, we prove the performance of the proposed algorithm is better than that of the Dijkstra algorithm through simulation.

• 유체기계공업학회:학술대회논문집
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• 2002.12a
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• pp.147-151
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• 2002

Cross flow fan system is widely used for various applications, especially for the air-moving device of heaters, air-conditioners, and air-curtains. Although there are efforts for the optimization of cross-flow fan flow path with different methods of approach, it is still being investigated by many researchers through experimentally and/or theoretically, because the flow pattern of the cross flow fan is not stereotyped. This paper presents some results from numerical experiments for the optimization of the flow path through a cross-flow fan to be applied to indoor wall-mounted room heater. Two dimensional analysis has been applied to a specific fan system including inlet and diffuser outlet. Flow characteristics art presented and discussed for two different flow path at three different operating conditions represented by rotational speed(800, 1,000, 1,200 rpm) of the In. According to the simulated results for the specific fan system under consideration, it could be found that the flow pattern resembles each other at different rotational speed (to say from 800 rpm to 1,200 rpm) for a fixed flow path, while the secondary flows mostly absorbs the speed effects. By changing the flow path significant increase in volume flow rate is estimated upto 2.65 at the same rotational speed. According to the present experience, fan flow path design can be performed more efficiently by incorporating this type of numerical experiments combined with the model tests.