• Title/Summary/Keyword: 3-D Path Planning

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Hierarchical Particle Swarm Optimization for Multi UAV Waypoints Planning Under Various Threats (다양한 위협 하에서 복수 무인기의 경로점 계획을 위한 계층적 입자 군집 최적화)

  • Chung, Wonmo;Kim, Myunggun;Lee, Sanha;Lee, Sang-Pill;Park, Chun-Shin;Son, Hungsun
    • Journal of the Korean Society for Aeronautical & Space Sciences
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    • v.50 no.6
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    • pp.385-391
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    • 2022
  • This paper presents to develop a path planning algorithm combining gradient descent-based path planning (GBPP) and particle swarm optimization (PSO) for considering prohibited flight areas, terrain information, and characteristics of fixed-wing unmmaned aerial vehicle (UAV) in 3D space. Path can be generated fast using GBPP, but it is often happened that an unsafe path can be generated by converging to a local minimum depending on the initial path. Bio-inspired swarm intelligence algorithms, such as Genetic algorithm (GA) and PSO, can avoid the local minima problem by sampling several paths. However, if the number of optimal variable increases due to an increase in the number of UAVs and waypoints, it requires heavy computation time and efforts due to increasing the number of particles accordingly. To solve the disadvantages of the two algorithms, hierarchical path planning algorithm associated with hierarchical particle swarm optimization (HPSO) is developed by defining the initial path, which is the input of GBPP, as two variables including particles variables. Feasibility of the proposed algorithm is verified by software-in-the-loop simulation (SILS) of flight control computer (FCC) for UAVs.

Development of a 3D Localization Algorithm Using Hull Geometry Information (선체 형상 정보를 활용한 3차원 위치인식 알고리즘 개발)

  • Mingyu Jang;Jinhyun Kim
    • Journal of Sensor Science and Technology
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    • v.32 no.5
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    • pp.300-306
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    • 2023
  • A hull-cleaning robot sticks to the surface of a vessel and moves for efficient cleaning. Precise path planning and tracking using the current position is crucial. Many robots rely on the INS algorithm, but errors accumulate. To fix this, GPS, sonar, and USBL are used, though with limitations. Selecting suitable sensors for the surface operation and accurate positioning algorithm are vital. In this study, we developed a robot position estimation algorithm using the structure of a ship. Problems that arise when expanding the 2D position estimation algorithm used in existing wall structures to 3D were evaluated and methods for solving them were proposed. In addition, we aimed to improve performance by deriving singularities that exist in the robot path and proposing an error correction algorithm based on the singularities.

A study on the 3-D CNC cutting planning and simulation by Z-Map model (Z-Map모델을 이용한 3차원 CNC가공계획 및 절삭시뮬레이션에 관한 연구)

  • Song, Soo-Yong;Kim, Seok-Il
    • Journal of the Korean Society for Precision Engineering
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    • v.13 no.5
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    • pp.115-121
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    • 1996
  • Recently, the Z-Map model has been used widely to represent the three dimensional geometric shape and to achieve the cross-section and point evaluation of the shape. In this paper, the CNC cutting planning and simulation modules for product with three dimensional geometric shape are realized based on the Z-Map model. The realized system has the various capabilities related to the automatic generation of tool path for the rough and finish cutting processes, the automatic elimination of overcut, the automatic generation of CNC program for a machining center and the cutting simulation. Especially, the overcut-free tool path is obtained by using the CL Z-Map models which are composed of the offset surfaces of the geometric shape of product.

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Efficient Controlling Trajectory of NPC with Accumulation Map based on Path of User and NavMesh in Unity3D

  • Kim, Jong-Hyun
    • Journal of the Korea Society of Computer and Information
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    • v.25 no.4
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    • pp.55-61
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    • 2020
  • In this paper, we present a novel approach to efficiently control the location of NPC(Non-playable characters) in the interactive virtual world such as game, virtual reality. To control the NPC's movement path, we first calculate the main trajectory based on the user's path, and then move the NPC based on the weight map. Our method constructs automatically a navigation mesh that provides new paths for NPC by referencing the user trajectories. Our method enables adaptive changes to the virtual world over time and provides user-preferred path weights for smartagent path planning. We have tested the usefulness of our algorithm with several example scenarios from interactive worlds such as video games, virtual reality. In practice, our framework can be applied easily to any type of navigation in an interactive world.

Skeleton-Based Local-Path Planning for a Mobile Robot with a Vision System (비전센서를 사용하는 이동로봇의 골격지도를 이용한 지역경로계획 알고리즘)

  • Kwon, Ji-Wook;Yang, Dong-Hoon;Hong, Suk-Kyo
    • Proceedings of the KIEE Conference
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    • 2006.07d
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    • pp.1958-1959
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    • 2006
  • This paper proposes a local path-planning algorithm that enables a mobile robot with vision sensor in a local area.The proposed method based on projective geometry and a wavefront method finds local-paths to avoid collisions using 3-D walls or obstacles map generated using projective geometry. Simulation results show the feasibility of the proposed method

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A graphic Simulator of Manipulators for Remote Maintenance (원격유지보수용 조작기 시뮬레이터 개발)

  • 이종열;김성현;송태길;박병석;윤지섭
    • Proceedings of the Korean Society of Precision Engineering Conference
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    • 2002.10a
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    • pp.772-775
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    • 2002
  • The remote handling and maintenance devices in the nuclear hot ceil should be checked prior to the hot operation in view of reliability and operability. In this study, the digital mock-up is implemented to analyze and define the process equipment maintenance processes instead of real mock-up, which is very expensive and time consuming. To do this, the parts of equipment and maintenance devices are modeled in 3-D graphics, assembled, and kinematics is assigned. Also, the virtual workcell of the spent fuel management process is implemented in the graphical environment which is the same as the real environment. This simulator has the several functions for verification such as analyses for the manipulator's working area, the collision detection, the path planning and graphic simulation of the processes etc. This graphic simulator of the maintenance devices can be effectively used in designing of the maintenance processes for the hot cell equipment and enhance the reliability of the spent fuel management.

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Real-time collision-free landing path planning for drone deliveries in urban environments

  • Hanseob Lee;Sungwook Cho;Hoon Jung
    • ETRI Journal
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    • v.45 no.5
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    • pp.746-757
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    • 2023
  • This study presents a novel safe landing algorithm for urban drone deliveries. The rapid advancement of drone technology has given rise to various delivery services for everyday necessities and emergency relief efforts. However, the reliability of drone delivery technology is still insufficient for application in urban environments. The proposed approach uses the "landing angle control" method to allow the drone to land vertically and a rapidly exploring random tree-based collision avoidance algorithm to generate safe and efficient vertical landing paths for drones while avoiding common urban obstacles like trees, street lights, utility poles, and wires; these methods allow for precise and reliable urban drone delivery. We verified the approach within a Gazebo simulation operated through ROS using a six-degree-of-freedom drone model and sensors with similar specifications to actual models. The performance of the algorithms was tested in various scenarios by comparing it with that of stateof-the-art 3D path planning algorithms.

3D-based Earthwork Planning and CO2 Emission Estimation for Automated Earthworks (자동화 토공을 위한 3D 토량배분과 탄소발생량 추정)

  • Kim, Sung-Keun
    • KSCE Journal of Civil and Environmental Engineering Research
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    • v.33 no.3
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    • pp.1191-1202
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    • 2013
  • The former researches on earthwork automation were mainly focused on GPS and sensor application, environment modelling, equipment path planning, work information management, and remote control etc. Recently, reducing $CO_2$ emission becomes one of main focuses for an automation research. In the case of earthwork operations, many kinds of construction machines or robots are involved, which can cause high level of $CO_2$ in a construction site. An effective earthwork plan and construction machine operation can both increase productivity and safety and decrease $CO_2$ emission level. In this research, some automation concepts for green earthworks are suggested such as a 3D construction site model, a 3D earthwork distribution based on two different earthwork methods, and an earthwork package construction method. A excel-based simulator is developed to generate the 3D earthwork distribution and to estimate the level of $CO_2$ emission for the given earthwork.

Study about Low-Cost Autonomous Driving Simulator Framework Based on 3D LIDAR (33D LIDAR 를 기반으로 하는 저비용 자율 주행 시뮬레이터 프레임워크에 대한 연구)

  • O, Eun Taek;Cho, Min Woo;Gu, Bon Woo
    • Proceedings of the Korea Information Processing Society Conference
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    • 2022.05a
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    • pp.702-704
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    • 2022
  • 자율주행 시뮬레이터를 위한 대체재로 게임 엔진을 통한 가상 환경 모의 연구가 수행되고 있다. 하지만 게임 엔진에서는 자율 주행에 필요한 센서를 기기에 맞게 사용자가 직접 모델링을 해줘야 하기 때문에 개발 비용이 크게 작용된다. 특히, Ray 를 활용한 3D LIDAR 는 GPU(Graphics Processing Unit) 사용량이 많은 작업이기 때문에 저비용 시뮬레이터를 위해서는 저비용 3D LIDAR 모의가 필요하다. 본 논문에서는 낮은 컴퓨터 연산을 사용하는 C++ 기반 3D LIDAR 모의 프레임 워크를 제안한다. 제안된 3D LIDAR 는 다수의 언덕으로 이루어진 비포장 Map 에서 성능을 검증 하였으며, 성능 검증을 의해 본 논문에서 생성된 3D LIDAR 로 간단한 LPP(Local Path Planning) 생성 방법도 소개한다. 제안된 3D LIDAR 프레임 워크는 저비용 실시간 모의가 필요한 자율 주행 분야에 적극 활용되길 바란다.

Efficient Path Finding in 3D Games by Using Visibility Tests (가시성 검사를 이용한 3차원 게임에서의 효율적인 경로 탐색)

  • Kim, Hyung-Il;Jung, Dong-Min;Um, Ky-Hyun;Cho, Hyung-Je;Kim, Jun-Tae
    • Journal of Korea Multimedia Society
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    • v.9 no.11
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    • pp.1483-1495
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    • 2006
  • The navigation mesh represents a terrain as a set of triangles on which characters may move around. The navigation mesh cab be generated automatically, and it is more flexible in representing 3D surface. The number of triangles to represent a terrain may vary according to the structure of the terrain. As characters are moving around on a navigation mesh, the path planning can be performed more easily by projecting the 3D surfaces into 2D space. However, when the terrain is represented with an elaborated mesh of large number of triangles to achieve more realistic movements, the path finding can be very inefficient because there are too many states(triangles) to be searched. In this paper, we propose an efficient method of path finding in 3D games where the terrain is represented by navigation meshes. Our method uses the visibility tests. When the graph-based search is applied to elaborated polygonal meshes for detailed terrain representation, the path finding can be very inefficient because there are too many states(polygons) to be searched. In our method, we reduce the search space by using visibility tests so that the search can be fast even on the detailed terrain with large number of polygons. First we find the visible vertices of the obstacles, and define the heuristic function as the distance to the goal through those vertices. By doing that, the number of states that the graph-based search visits can be substantially reduced compared to the plane search with straight-line distance heuristic.

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