Han Ul Yoon's ECE 550 Webpage


Homework assignment #1
[Bug Algorithms - Bug1 & Bug2]
*To demystify the theory and design in my BUG algorithm, please refer Seth & Howie Book: "Principle of Robot Motion"

bug1-0

bug1-1

bug1-2

bug1-3

bug2-0

bug2-1

bug2-2

bug2-3

Some Nonsense...


Homework assignment #2
[Artificail Potential Field]
*To demystify the theory and design in my UAV simulation [click here]

uav1

uav2


Homework assignment #3
[Probabilistic Roadmap Method]
To demystify the theory and design in my 7-links robot simulation [click here]

4bombs/20samples

6bombs/50samples

7bombs/100samples

8bombs/200samples

Stupid size of bombs...


Course Project
[Find Collision Free Path with Probabilistic Roadmaps: The Bounding Volume Expansion]
*To demystify the theory and design in my project [click here]

Abstract: The efficiency of Probabilistic Roadmaps (PRM) depends on the number of samples in free configuration space and computation time to connect such samples. Key idea of this approach is to generate samples with bounding volume expansion and connect free samples based on geometric characteristics so that straight-line local planner does not do collision check while it connects a sample to another. This paper presents a geometric analysis in configuration space with bounding volume expansion and a sampling scheme to generate sample densely enough. Experiments show that five links robot finds a collision-free path in the environment where some obstacles are placed.


result1
r=0.0: no expansion

result2
r=0.2

result3
r=0.4: the goal is same as left

result4
r=0.2: w/ different goal


Acknowledgement
I specially thank to Prof. Seth Hutchinson and T.A. Sal Candido for inspiring me, encouraging me, and consoling me, in this course. Also, it was my honor to be with my outstanding classmates: Aaron, Brad, Carlos, and Jaesik. I do not know how I can express my great thanks to my wife, Logie. This semester was miserable enough for us to tolerate, but keep believing me, and we are actually getting better.



Last Update: 05/25/2007
hyoon24@uiuc.edu