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유진오(Jin-O You),채호병(Ho-Byung Chae),박태형(Tae-Hyoung Park) 대한전기학회 2006 대한전기학회 학술대회 논문집 Vol.2006 No.10
We propose a new method for shortest path planning of mobile robots. The topological information of the graph is obtained by thinning method to generate the collision-free path of robot. And the travelling path is determined through hierarchical planning stages. The first stage generates an initial path by use of Dijkstra's algorithm. The second stage then generates the final path by use of dynamic programming (DP). The DP adjusts the intial path to reduce the total travelling distance of robot. Simulation results are presented to verify the performance of the proposed method.
다양한 현장조건에서 튜브형 강관 록볼트의 시공사례 연구
손성곤(Sung-Gon Son),유진오(Jin-O You),김진형(Jin-Hyoung Kim),이인규(In-Gyu Lee),정재민(Jae-Min Chung) 한국철도학회 2013 한국철도학회 학술발표대회논문집 Vol.2013 No.5
In tunneling, rockbolt, shotcrete and steel rib have been widely used to ensure the stability of the tunnel structures and to prevent falling of crushed rock during tunneling. In general, the rockbolt is mainly used with reinforced steel. However, steel bar or the materials with the same strength can be used depending on the rock conditions, ground water outflow condition, and the surrounding of applying location. In Korea, most tunnel construction sites have used cement mortar or resin for steel reinforcement on the rock. Due to the ground water outflow in the construction site, the usability of steel reinforcement is poor and it requires curing time especially after installing. A tube type steel rockbolt has been developed to reduce the cost and increase its applicability at harsh construction conditions. In this study, introduces the development of a tube type steel rockbolt, as well as presents the field testing and performance results.
윤희상(Hee-Sang Yoon),유진오(Jin-Oh You),박태형(Tae-Hyoung Park) 제어로봇시스템학회 2008 제어·로봇·시스템학회 논문지 Vol.14 No.4
We propose a new path planning method for autonomous mobile robots. To maximize the utility of mobile robots, the collision-free shortest path should be generated by on-line computation. In this paper, we develop an effective and practical method to generate a good solution by lower computation time. The initial path is obtained from skeleton graph by Dijkstra"s algorithm. Then the path is improved by changing the graph and path dynamically. We apply the dynamic programming algorithm into the stage of improvement. Simulation results are presented to verify the performance of the proposed method.