The Unmanned Ground Vehicle’s Local Path Plan Algorithm that Adapted Weight According to Obstacles in Local Area

Kyung-Il Lim,Jae-Hwan Kim,Chung-Kyeom Kim,Jung-Ha Kim 제어로봇시스템학회 2010 제어로봇시스템학회 국제학술대회 논문집 Vol.2010 No.10

The existing path plan algorithms repeat process until reach to goal position (from the start position). As result of process, path plan algorithms create the optimal paths. From the algorithm point of view, created paths are optimal paths because paths are the shortest and lowest. But this path does not consider unit"s moving characteristics. The current path plan algorithms have been developing that solving and supplementing the part of problems about the grid map environment. According to the passage, methods of the solving and supplementing can divide two ways. First method is path smoothing, second method is the Field D<SUP>*</SUP> algorithm. If the path smoothing is adapted in Global size (Global path in Global map), in such that case, the time constraint is not important but the optimal path will be modified. And modification of the optimal path like to has serious problems. Field D<SUP>*</SUP> algorithm is powerful path plan algorithm and this algorithm is not postprocessing like a path smoothing. And in a way it guarantees real-time path creations. But local size (local path in local map)"s real-time do not guarantee perfectly. On the basis of facts, we suggest the Unmanned Ground Vehicle (we abbreviate the word by "UGV")"s new path plan algorithm that included UGV"s moving characteristics.

자율주행차량의 안전한 추월경로 생성을 위한 경로 계획

조성욱(Sungwook Jo),임경일(kyungil Lim),김윤섭(Yoonsub Kim),김정하(Jungha Kim) 한국자동차공학회 2015 한국자동차공학회 부문종합 학술대회 Vol.2015 No.5

There are many problems that generating path to traking UGV(Unmanned Ground Vehicle) in the real time in addition, most of path generation algorithm dose not take into account the kinematic characteristics of the vehicle. It is essential that path generation based to Scenario according to tracking situation. in this paper, we proposed that recognition of preceding vehicle and available overtaking path generation and path planning in restricted environment(ex. Highway). we used to LiDAR sensors, creates a path to overtake the preceding vehicle by update of obstacle in the global map based on grid. In consideration of the minimum distance(d1) can overtaking the preceding vehicle according to the entrance speed of the vehicle. minimum distance(d1) was used determined to start node. path planning is determined to judgment of overtaking about avoidance path generation, traking of front vehicle. we applied to TLPA<SUP>*</SUP> algorithm, generates overtaking path. TLPA<SUP>*</SUP> algorithm was defined by Suboptimality bound throught restrict to(∈) re-search area. using a TLPA<SUP>*</SUP> algorithm was more faster existing path generation algorithm therefore, using to LiDAR sensors, traking a front vehicle and updates position of current vehicle and obstacle and overtaking path in global map. finally, we proposed that fast and safety generating path of overtaking and path planning.

파주 관광경로의 전환과 로컬리티의 재구성

문재원,엄은희 韓國文化歷史地理學會 2012 문화 역사 지리 Vol.24 No.2

관광 경로의 형성과 분화 및 착종의 과정은 로컬 안/밖, 보이는 존재/보는 주체, 개인/자본 혹은 국가, 원주민/방문객의 관계망에 로컬, 국가, 세계 등의 층위들이 복합적으로 얽혀 있다. 이 안에서 관광객을 비롯한 다양한 주체들의 시선이 상호충돌하며 특정 장소의 장소성을 강화하거나, 변형, 창안하게 된다. 따라서 관광의 조직과 관광 행위는 특정 로컬리티의 형성에 영향을 미친다. 본 논문은 관광 경로의 형성과 전환을 중심으로 파주 로컬리티의 변화를 고찰하고자 한다. 근대 파주의 로컬리티는 한국전쟁 이후 소외된 접경지로서 시작되었으며, 파주의 관광 경로 역시 분단국가의 압축판으로 드러났다. 하지만 2000년대 이후 파주 관광에 새로운 축들이 더해졌다. 신도시와 인접한 서남부의 헤이리예술마을이나 출판도시, 동부의 서원이나 율곡 관련 역사문화자원, 북부지역과 한강·임진강변의 자연생태환경 등이 관광파주에서 새로운 공간성을 획득하고 있다. 새로운 관광지들은 파주 내부의 차이와 분화를 조명하며 공간의 다성성을 드러낸다. 이러한 관광경로의 전환 과정에서 파주 안팎의 관광 관련 담론과 실천들로 인해 파주의 로컬리티는 재구성되고 있다. The forming of tour paths and their varying or entangling processes are complicatedly related with networks consisting of in/out situation of the local, beings seen/seeing subjectivities, the indigene/visitors, and individuals/capital or states and nested in multi-levels from local to national and even global scale. In the tour fields, various gazes including tourist’ ones come to terms with others and these interactions reinforce, transform, and re-invent specific characters of tour destinations. Therefore organization of tour route and tourists’ performances have affected forming of specific localities. This paper explores the changes of Paju City’s localities focusing the forming and transitions of tour paths. The locality of modern Paju City was originated from marginalized area near border after Korean war and the tour path of Paju City has been exhibiting as the strong example of dividedness of Korea. However, new places have added in Paju tour paths since 2000 such as Heyri Artists’ village and Paju Book city in southwestern part, Confucianism memorial hall and Shrine of Yulgok in eastern part, and rural or eco-tour spots in northern part inside Paju City’s territory. Newly emerging tour paths highlights the differentiations and divisions in Paju and Shows the polyphony of specific spaces. And to conclude, the tour-related discourses and activities in the process of tour path changes have continuously (re)organized the localities of Paju City.

지역주민 주도형 도보관광길 개발방안

서정권(Jeong-Kwon Seo),최윤정(Yoon-Jeong Choi),문보영(Bo-Young Moon) 융합관광콘텐츠학회 2019 융합관광콘텐츠연구 (JCTC) Vol.5 No.2

The aim of this research is to investigate the idea of developing a walking tour route as a form of cultural experience in the capital area, the administration of which would be overseen by local residents. The targeted research area would be centered on the route of the Gyeonggi Yetgil(Old Road) Yeongnam-Gil, a route that provides access to various natural beauties, religious pilgrimage sites (Catholic, Reformed Christian as well as Buddhist sites), and numerous other places attractive to potential visitors. The period of research would be from June to July 2019. The methodology involves case studies of local resident authority over walking tour paths, analysis of the environmental conditions of the research target route, focus group interviews and, of course, relevant literature review. The expected results and implications of the research: First, the capital area walking tour paths, such as Dulegil and hiking trail, etc. are mainly for walking paths. Thus, they should be constructed in a way that addresses the diverse demands of people for an experience-oriented walking tour path. Second, it is necessary to develop various routes that range from easy to hard. And third, creating a walking tour path led by the local residents will bring positive effects on the quality of life of the residents, including, an improvement of the living environment and a steady source of job opportunities, etc. enabling the development of a sustainable walking tour path.

도심지역에서 무인자율주행자동차를 위한 전역 및 지역경로계획의 구현

김충겸(Chung Kyeom Kim),임경일(Kyung Il Lim),한영민(Young Min Han),김병우(Byong Woo Kim) 한국자동차공학회 2011 한국자동차공학회 학술대회 및 전시회 Vol.2011 No.11

For driving of autonomous vehicle from the beginning to goal in downtown area, it is needed that significant external information such as road data and traffic information. Those are built with topological graph before driving, and global path planning creates an optimal path using topological graph, made already. On top of that, local path planning also generates an optimal path, recognizing a radius of gyration and real-time obstacle information, based on a global path. In this study, for autonomous vehicle’s successful and stable driving in downtown area, it will be show that global and local path planning method in which topological graph and vehicle information is reflected.

(2019년 국제학술대회) 지역주민 주도형 도보관광길 개발방안 연구

Jeong-Kwon Seo(서정권),Yoon-Jeong Choi(최윤정) 융합관광콘텐츠학회 2019 융합관광콘텐츠학회 학술대회 발표집 Vol.2019 No.-

The aim of this research is to investigate the idea of developing a walking tour route as a form of cultural experience in the capital area, the administration of which would be overseen by local residents. The targeted research area would be centered on the route of the Gyeonggi Yetgil(Old Road) Yeongnam-Gil, a route that provides access to various natural beauties, religious pilgrimage sites (Catholic, Reformed Christian as well as Buddhist sites), and numerous other places attractive to potential visitors. The period of research would be from June to July 2019. The methodology involves case studies of local resident authority over walking tour paths, analysis of the environmental conditions of the research target route, focus group interviews and, of course, relevant literature review. The expected results and implications of the research: First, the capital area walking tour paths, such as Dulegil and hiking trail, etc. are mainly for walking paths. Thus, they should be constructed in a way that addresses the diverse demands of people for an experience-oriented walking tour path. Second, it is necessary to develop various routes that range from easy to hard. And third, creating a walking tour path led by the local residents will bring positive effects on the quality of life of the residents, including, an improvement of the living environment and a steady source of job opportunities, etc. enabling the development of a sustainable walking tour path.

무인차량의 주행성능을 고려한 장애물 격자지도 기반의 지역경로계획

이영일,이호주,고정호,Lee, Young-Il,Lee, Ho-Joo,Ko, Jung-Ho 한국군사과학기술학회 2010 한국군사과학기술학회지 Vol.13 No.2

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.

Collision-avoided Tracking Control of UAV Using Velocity-adaptive 3D Local Path Planning

Dongwoo Seo,Jaeyoung Kang 제어·로봇·시스템학회 2023 International Journal of Control, Automation, and Vol.21 No.1

This study proposes a novel velocity-adaptive 3D local path planning algorithm (3DLPP) for single unmanned aerial vehicle (UAV) flying along a reference trajectory with obstacle collision avoidance (CA) in realtime. In the local path planning, local path candidates are generated in three-dimensional space to avoid obstacles in real time using cost functions. Velocity and acceleration profiles are estimated in real-time using model predictive control law (MPC) with the well-defined cost function minimizing centripetal acceleration. It is accentuated that the velocity and acceleration profiles are not pre-defined, but optimally determined in the current local path. Then, the UAV is controlled to fly along the selected desired trajectory using sliding mode control (SMC) and Lyapunov stability theory-based control law (LSTC) with the updated velocity and acceleration profiles. Finally, the simulation confirmed that the UAV tracked the baseline and avoided all obstacles by moving in the omni-direction suppressing the centripetal acceleration of UAV during maneuvering.

인공지능 : 강화학습을 이용한 무인 자율주행 차량의 지역경로 생성 기법

김문종 ( Moon Jong Kim ),최기창 ( Ki Chang Choi ),오병화 ( Byong Hwa Oh ),양지훈 ( Ji Hoon Yang ) 한국정보처리학회 2014 정보처리학회논문지. 소프트웨어 및 데이터 공학 Vol.3 No.9

무인 자율주행 차량에서의 경로 생성 기법은 차량이 자동적으로 안전하고 효율적인 경로를 생성하고 주행할 수 있도록 해 준다. 경로에는 크게 전역경로와 지역경로가 있다. 전역경로는 차량이 출발점으로부터 도착점까지 가기 위해 주행해야 하는 구간을, 지역경로는 전역경로에서 얻은 구간을 주행하기 위해서 차량이 실제로 주행해야 할 경로를 의미한다. 본 논문에서는 지역경로 생성을 위하여 효율성 높은 곡선 함수를 사용하는 기존연구에서 더 나아가 학습을 통해 경로를 생성하는 방법을 제안한다. 먼저 강화학습을 통해서 후보경로에 대한 예측 보상 값을 얻고 보상 값이 최고가 되는 경로를 찾는 작업을 한다. 또한 인공 신경망을 통해서는 생성된 경로에 최적화된 조향 명령을 주기 위해 조향 각을 학습하는 작업을 한다. 더 나아가 주행하는 경로에 장애물이 발견되더라도 이를 효율적으로 회피하는 최적의 경로를 학습기법을 통해 만들어낸다. 본 논문에서 제안된 알고리즘의 우수성은 실제 주행 환경으로 모델링한 시뮬레이션 실험을 통해 검증되었다. Path generation methods are required for safe and efficient driving in unmanned autonomous vehicles. There are two kinds of paths: global and local. A global path consists of all the way points including the source and the destination. A local path is the trajectory that a vehicle needs to follow from a way point to the next in the global path. In this paper, we propose a novel method for local path generation through machine learning, with an effective curve function used for initializing the trajectory. First, reinforcement learning is applied to a set of candidate paths to produce the best trajectory with maximal reward. Then the optimal steering angle with respect to the trajectory is determined by training an artificial neural network. Our method outperformed existing approaches and successfully found quality paths in various experimental settings, including the cases with obstacles.

공간구문론을 이용한 감천문화마을 관광경로 재구성 연구

권태일 ( Kweon Tae-ill ) (사)한국마이스관광학회(구 한국컨벤션학회) 2018 MICE관광연구 Vol.18 No.3

The purpose of this study is to analyze problems of the existing tourism paths in Gamcheon Culture Village and suggest alternative paths. Space Syntax analysis showed that the location of the existing tourism paths have been set inappropriately which may cause serious problems(i.e., limited accessibility and visibility of landscape for tourists, a violation of residents privacy, a loud noise by tourists, etc). Based on the findings, the present study suggested using three space syntax indexes such as the global integration, local integration, and intelligibility. The first path focuses on good accessibility and wide visibility with high value of Global Integration, Local Integration, and Intelligibility. The second path highlights direct experiences of dense housing cluster space along with good indexes. Finally, the third alternative path stresses on the maximum use of facilities in the existing tourism paths.