• Journal of the Korea Society for Simulation
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• v.19 no.4
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• pp.129-137
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• 2010

Currently used shortest path search algorithms involve graphs with vertices and weighted edges between each vertex. However, when finding the shortest path with a randomly shaped obstacle(an island, for instance) positioned in between the starting point and the destination, using such algorithms involves high memory inefficiency and is significantly time consuming - all positions in the map should be considered as vertices and every line connecting any of the two adjacent vertices should be considered an edge. Therefore, we propose a new method for finding the shortest path in such conditions without using weighted graphs. This algorithm will allow finding the shortest obstacle bypass given only the positions of the obstacle boundary, the starting point and the destination. When the row and column size of the minimum boundary rectangle to include an obstacle is m and n, respectively, the proposed algorithm has the maximum time complexity, O(mn). This performance shows the proposed algorithm is very efficient comparing with the currently used algorithms.

• Journal of Korean Society of Transportation
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• v.23 no.6 s.84
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• pp.41-53
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• 2005

The effective utilization of an airport is considerably influenced by natural features and man-made structures inside and outside its boundary. These obstacles affect the airspace available for approaches and departures and the weather minima which dictates the necessary weather conditions for aircraft to be allowed to take-off or land. Certain areas of the airspace near airports must be regarded as the integral parts of the airport system. The availability of the required airspace is as important as are the runway and their associated strips to the safe and efficient use of the airport. For these reasons, ICAO and the member states have established the standards regarding the obstacle limitation surfaces and regulated the construction of the man-made structures in and beyond the surfaces. Existing objects that extend above a obstacle limitation surfaces should as for as practicable be removed except when, in the opinion of the appropriate authority, an objects is shielded an existing immovable objects, or after aeronautical study it is determined that the object would not adversely affect the safety or significantly affect the regularity of operations of airplanes. However, Korea's aviation law does not specified the outer horizontal surface in the obstacle limitation surfaces, while ICAO and most member states do. The absence of the outer horizontal surface regulation has created legal disputes between regulating agencies and private parties. The case study in this paper found that a skyscraper planned beyond Korea's obstacle limitation surfaces does affect the flight safety and the efficient use of an airport. Therefore, in areas beyond the obstacle limitation surfaces. those objects which extend to a height of 150m or more above ground elevation should be regarded as obstacle, unless a special aeronautical study indicates that they do not constitute a hazard to airplanes. We proposed low alternative regulatory schemes for resolving the issues raised in this paper, and we recommended to adopt ICAO's standards and recommended practices.

• Journal of Institute of Control, Robotics and Systems
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• v.18 no.10
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• pp.970-976
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• 2012

In this paper, a single LRF has been used to produce a 3D map for the mobile robot navigation. The 2D laser scanners are used for mobile robots navigation, where the laser scanner is applied to detect a certain level of area by the straight beam. Therefore it is limited to the usages of 2D obstacle detection and avoidance. In this research, it is designed to complement a mobile robot system to move up and down a single LRF along the yaw axis. During the up and down motion, the 2D data are stacked and manipulated to build a 3D map. Often a single LRF data are mixed with Gaussian and impulse noises. The impulse noises are removed out by the hybrid median filter designed in this research. The 2D data which are improved by deleting the impulse noises are layered to build the 3D map. Removing impulse noises while preserving the boundary is a main advantages of the hybrid median filter which has been used widely to improve the quality of images. The effectiveness of this hybrid median filter for rejecting the impulse noises has been verified through the real experiments. The performance of the hybrid median filter is evaluated in terms of PSNR (Peak Signal to Noise Ratio) and the processing time.