https://scholar.dgist.ac.kr/handle/20.500.11750/10133 2026-04-29T13:37:34Z https://scholar.dgist.ac.kr/handle/20.500.11750/60267 Title: Stable path planning algorithm for avoidance of dynamic obstacles Author(s): Kang, Won-Seok; Yun, Sanghun; Kwon, Hyung-Oh; Choi, Rock Hyun; Son, Chang-Sik; Lee, Dong Ha Abstract: Previous research of path planning has focused mainly on finding shortest paths or smallest movements. These methods, however, have poor stability characteristics when dynamic obstacles are considered on real-life or in-body map's environments. In this paper, we suggest a stable path planning algorithm for avoidance of dynamic obstacles. The proposed method makes the movement of a mobile robot more stable in a dynamic environment. Our focus is based on finding optimal movements for stability rather than finding shortest paths or smallest movements. The algorithm is based on Genetic Algorithm (GA) and uses k-means clustering to recognize the distribution of dynamics obstacles in various mobile space. Simulation results confirm this method can determine stable paths through environments involving dynamic obstacles. In order to validate our results, we compared the dynamic k values used in k-means clustering and grid-based dynamic cell sizes from several test sets. © 2015 IEEE. 2014-12-31T15:00:00Z https://scholar.dgist.ac.kr/handle/20.500.11750/60158 Title: 자율주행 경로 위치 데이터를 이용한 무인 방제 장치 및 방법 Author(s): 박지호; 한중희 Abstract: 본 발명은 자율주행 경로 위치 데이터를 이용한 무인 방제 장치 및 방법에 관한 것으로, 본 발명의 일실시예에 따른 무인 방제 장치는 자율 주행을 운용하기 위하여 운행 시작 포인트부터 운행 종료 포인트까지의 주행 경로에 대한 웨이포인트(waypoint)들로 구성된 경로 데이터를 획득하는 경로 데이터 획득부, 상기 웨이포인트들 간의 직선 사이의 각도를 산출하여 회전 각도를 산출하는 회전 각도 산출부; 상기 웨이포인트들 중 상기 산출된 회전 각도가 선회 기준 각도보다 크거나 같은 웨이포인트들을 선회 웨이포인트들로 결정하고, 상기 결정된 선회 웨이포인트들의 수평 위치 좌표를 이용하여 적어도 하나의 선회 구간을 결정하는 선회 구간 결정부, 상기 결정된 적어도 하나의 선회 구간의 선회 시작 포인트와 선회 종료 포인트를 결정하여 상기 선회 종료 포인트와 상기 선회 시작 포인트 사이에 적어도 하나의 분무 구역을 결정하는 분무 구역 결정부 및 상기 획득된 경로 데이터에 따라 방제 이동체의 자율 주행을 제어하고, 상기 결정된 적어도 하나의 분무 구역에서 방제 약액을 분무하도록 방제 운행을 제어하는 운행 제어부를 포함할 수 있다. https://scholar.dgist.ac.kr/handle/20.500.11750/60084 Title: Real-World Validation of Dynamic Text-based eHMIs for Pedestrian Interaction with Autonomous Shuttles Author(s): Hyunmin Kang; Hyochang Kim; Hyungchai Park; Hoseok Jung; Son, Joonwoo; Park, Myoungouk Abstract: External human-machine interfaces (eHMIs) are designed to explicitly communicate autonomous vehicles' (AVs) intentions, thereby enhancing safety in complex traffic interactions. This study evaluated the effectiveness of a dynamic text-based eHMI on an autonomous shuttle operating in a naturalistic setting at unsignalized crosswalks in South Korea. Through field observations, we identified scenarios in which traditional yielding or stopping messages were insufficient, especially under conditions of continuous pedestrian flow causing vehicle delays. Using this scenario, explicitly communicating the vehicle's imminent departure, was tested against a static control condition. Post-interaction surveys of 60 pedestrians revealed that the dynamic eHMI significantly improved message visibility, comprehension, and perceived system support. Additionally, pedestrians exposed to the dynamic eHMI prioritized explicit textual cues over implicit vehicle cues when deciding to cross, leading to increased trust in AV technology. These results highlight the practical value of context-sensitive, explicit eHMIs for enhancing real-world AV-pedestrian interactions. 2025-09-23T15:00:00Z https://scholar.dgist.ac.kr/handle/20.500.11750/60067 Title: 도심환경에서의 변화에 강인한 LiDAR 위치인식 기법 Author(s): 김기섭; 박명옥; 손준우 Abstract: This paper presents a LiDAR-based localization method that remains robust to long-term map changes in urban environments. While most existing localization approaches rely on up-to-date high-definition maps, our method achieves accurate pose estimation even when using outdated maps built years earlier. Built upon the KISS-ICP framework, the proposed system introduces adaptive map registration and global consistency maintenance against structural changes such as new buildings, roadworks, and vegetation growth. Experimental results in campus and urban settings demonstrate globally consistent alignment within 7 cm despite multi-year map discrepancies, confirming the method’s effectiveness for long-term autonomous navigation. 2025-11-28T15:00:00Z