• Journal of Institute of Control, Robotics and Systems
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• v.9 no.12
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• pp.1033-1041
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• 2003

A new visual tracking scheme is proposed for a mobile robot that tracks a moving object in 3D space in real time. Visual tracking is to control a mobile robot to keep a moving target at the center of input image at all time. We made it possible by simplifying the relationship between the 2D image frame captured by a single camera and the 3D workspace frame. To precisely calculate the input vector (orientation and distance) of the mobile robot, the speed vector of the target is determined by eliminating the speed component caused by the camera motion from the speed vector appeared in the input image. The problem of temporary disappearance of the target form the input image is solved by selecting the searching area based on the linear prediction of target motion. The experimental results have shown that the proposed scheme can make a mobile robot successfully follow a moving target in real time.

• The Journal of the Institute of Internet, Broadcasting and Communication
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• v.19 no.2
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• pp.221-227
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• 2019

It has long been known that weapon target assignment (WTA) problem is NP-hard. Nonetheless, an exact solution can be found using Brute-Force or branch-and bound method which utilize approximation. Many heuristic algorithms, genetic algorithm particle swarm optimization, etc., have been proposed which provide near-optimal solutions in polynomial time. This paper suggests polynomial time algorithm that can be obtain the optimal solution of WTA problem for the number of total weapons k, the number of weapon types m, and the number of targets n. This algorithm performs k times for O(mn) so the algorithm complexity is O(kmn). The proposed algorithm can be minimize the number of trials than brute-force method and can be obtain the optimal solution.

• 전기의세계
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• v.27 no.2
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• pp.53-63
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• 1978

The problem of optimally controlling a time-delay control system to a function as the final target is inverstigated. Necessary conditions are presented in the form of Pontryagin's maximum principle, and it is further shown that they are also sufficient for linear systems with a convex cost functional. Several examples are given to illustrate the results.

• Journal of the Korea Institute of Military Science and Technology
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• v.21 no.1
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• pp.47-60
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• 2018

In this paper, we proposed a method for eliminating aiming error of unguided anti-tank rocket using improved target tracking. Since predicted fire is necessary to hit moving targets with unguided rockets, a method was proposed to estimate the position and velocity of target using fire control system. However, such a method has a problem that the hit rate may be lowered due to the aiming error of the shooter. In order to solve this problem, we used an image-based target tracking method to correct error caused by the shooter. We also proposed a robust tracking method based on TLD(Tracking Learning Detection) considering characteristics of the FCS(Fire Control System) devices. To verify the performance of our proposed algorithm, we measured the target velocity using GPS and compared it with our estimation. It is proved that our method is robust to shooter's aiming error.

• 전기의세계
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• v.31 no.2
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• pp.119-125
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• 1982

A new approach to the maneuvering target tracking problem is proposed. Its basic concept is to take the maneuver variable from the measurements. Tracking scheme based on the Kalman filter estimates the maneuver varieble from the residual and uses the estimates to update the Kalman filter. The estimation process is independent of target types and a model of the maneuver characteristics. All the filtering algorithms are processed in polor coordinate. Simulation results are presented and compared to that of the extended Kalman filter.

• Journal of the Korea Institute of Military Science and Technology
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• v.7 no.4 s.19
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• pp.61-69
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• 2004

This paper presents a new analytical method for estimating the location of a target using directional data. Based on a nonlinear programming (NLP) problem formulated for the line method, which is a well known algorithm for two-dimensional location estimation, we present a method to find an optimal solution for the problem. Then we present a two-stage method for better location estimation based on the NLP problem. In addition, another two-stage method is presented for location estimation problems in which different types of observers are used to obtain directional data based on the analysis of the maximum likelihood estimate of the target location. The performance of the suggested method is evaluated through simulation experiments, and results show that the two-stage method is computationally efficient and highly accurate.

• Proceedings of the Korea Information Processing Society Conference
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• 2012.04a
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• pp.605-606
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• 2012

In this paper, we consider the problem of scheduling sensor activity to prolong the network lifetime while guaranteeing both discrete target coverage and connectivity among all the active sensors and the sink, called connected target coverage (CTC) problem. We proposed a distributed scheme called Distributed Lifetime-Maximizing Scheme (DLMS) to solve the CTC problem. Our proposed scheme significantly reduces the cost of the construction of the connected cover graphs in comparison with the some conventional schemes. In addition, the energy consumption is more balanced so that the network lifetime will be increased. Our simulation results show that DLMS scheme performs much better than the conventional schemes in terms of the network lifetime.

• Journal of the military operations research society of Korea
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• v.36 no.3
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• pp.29-42
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• 2010

In this study, the weapon-target assignment problem arising in military application of operations research is considered. We reformulated the problem in order to simplify the solution methods based on genetic algorithms and heuristics. Since the problem is well known as NP-complete and cannot be solved in polynomial time, such solution methods have been widely used to obtain good solutions. Two chromosome representations--target number representation and permutation representation--in genetic algorithm are compared. In addition, a construction heuristic and three improving heuristics are developed. Several experiments under the condition of transitivity rules in weapon's kill probability have been accomplished. It shows that the construction heuristic and exchange-based improving heuristic guarantees good solutions within a second and the performance of construction heuristic is sensitive to transitivity rules.

• Journal of Advanced Marine Engineering and Technology
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• v.29 no.5
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• pp.560-570
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• 2005

In this paper, we discuss the tracking system for a wheelchair which can follow the path of a human target such as a nurse in hospital. The problem of human tracking is that it requires recognition of feature as well as the tracking of human positions. For this purpose the use of a high cost visual sensor such as laser finder or streo camera makes the tracking a high cost additional expense. This paper proposes the tracking system uses a low cost infrared range-finder and CCD camera, The Infrared range-finder and CCD camera can create a target candidate through each target recognition algorithm. and this information is fused in order to reduce the uncertainties of a target decision and correct the positional error of the human. The effectiveness of the proposed system is verified through experiments.

• Proceedings of the KIEE Conference
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• 2011.07a
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• pp.1740-1741
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• 2011

This paper proposes a new linear recursive target state estimator for automotive collision warning system. The target motion is modeled in Cartesian coordinate system while the radar measurements such as range, line-of-sight angle and range rate are obtained in polar coordinate system. To solve the problem by nonlinear relation between these two coordinate system, a practical linear filter design scheme employing the predicted line-of-sight Cartesian coordinate system (PLCCS) is proposed. Especially, PLCCS can effectively incorporate range rate measurements into target tracking system. It is known that the utilization of range rate measurements enables the improvement of target tracking performance. Moreover, PLCCS based target tracking system is implemented by linear recursive filter structure and hence is more suitable scheme for the development of reliable collision warning system. The performance of the proposed method is demonstrated by computer simulations.