This paper proposed a triangular inequality-based rewiring method for the rapidly exploring random tree (RRT)-Connect robot path-planning algorithm that guarantees the planning time compared to the RRT algorithm, to bring it closer to the optimum. To check the proposed algorithm’s performance, this paper compared the RRT and RRT-Connect algorithms in various environments through simulation. From these experimental results, the proposed algorithm shows both quicker planning time and shorter path length than the RRT algorithm and shorter path length than the RRT-Connect algorithm with a similar number of samples and planning time.
This paper proposed a triangular inequality-based rewiring method for the Rapidly exploring Random Tree (RRT)-Connect robot path-planning algorithm that guarantees the planning time compared to the RRT algorithm, to bring it closer to the optimum. To check the proposed algorithm’s performance, this paper compared the RRT and RRT-Connect algorithms in various environments through simulation. From these experimental results, the proposed algorithm shows both quicker planning time and shorter path length than the RRT algorithm and shorter path length than the RRT-Connect algorithm with a similar number of samples and planning time.
We propose a method of pattern classi®cation of electromyographic (EMG) signals using a set of selforganizing feature maps (SOFMs). The proposed method is simple to apply in that the EMG signals are directly input to the SOFMs without preprocessing. Experimental results are presented that show the effectiveness of the SOFM based classi®er for the recognition of the hand signal version of the Korean alphabet from EMG signal patterns.
It is difficult to guarantee optimality using the sampling-based rapidly-exploring random tree (RRT) method. To solve the problem, this paper proposes the post triangular processing of the midpoint interpolation method to minimize the planning time and shorten the path length of the sampling-based algorithm. The proposed method makes a path that is closer to the optimal path and somewhat solves the sharp path problem through the interpolation process. Experiments were conducted to verify the performance of the proposed method. Applying the method proposed in this paper to the RRT algorithm increases the efficiency of optimization by minimizing the planning time.
As the elderly population increases globally, the demand for systems and algorithms that target the elderly is increasing. Focusing on the extendibility of smart mirrors, our purpose is to create a motion detection system based on video input by an attached device (an RGB camera). The motion detection system presented in this paper is based on an algorithm that returns a Boolean value indicating the detection of motion based on skeletal information. We analyzed the problems that occur when the adjacent frame subtraction method (AFSM) is used in the motion detection algorithm based on the skeleton-related output of the pose estimation model. We compared and tested the motion recognition rate for slow-motion with the previously used AFSM and the vector sum method (VSM) proposed in this paper. As an experimental result, the slow-motion detection rate showed an increase of 30–70%.
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