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研究人員 ｜ Research Faculty

● Associate Research Fellow, Academia Sinica (1994 - )
劉進興 Jing-Sin Liu ● Assistant Research Fellow, Academia Sinica (1990 - 1994)
● Ph.D, Electrical Engineering, National Taiwan University (1990)

副研究員 Associate Research Fellow
Ph.D., Electrical Engineering, National Taiwan University
Tel: +886-2-2788-3799 ext. 1813
Fax: +886-2-2782-4814
Email: liu@iis.sinica.edu.tw
http://www.iis.sinica.edu.tw/pages/liu

代表著作 Publications

1. Lai HC, Liu JS, Lee DT, Wang LS, 2003, “Design parameters study 14. Chang HC, Liu JS, 2008, High-quality path planning for autono-
on the stability and perception of riding comfort of the electrical mo- mous mobile robot with eta3-splines and parallel genetic algorithm,”
研究簡介 Research Description torcycles under rider leaning,” Mechatronics, vol.13, pp.49-76, 2003. 2008 IEEE Int. Conf. Robotics and Biomimetics, Bangkok, Thailand,
2. Liu JS, Liang TC, Lin YA, 2004, “Realization of ball passing strategy Feb.2009.
機器人路徑規畫是機器人學的一個最基本也是最複雜的 Fast Marching Methods (FMM) and Level Set Methods are numerical techniques in robot soccer game: a case study of integrated planning and con- 15. Chiang CH, Liu JS, Chou YS, 2009,“Comparing path length by
問題，在這方面已有相當多的研究，而快速推進法 (Fast which can follow the evolution of interfaces. The techniques have a wide range of trol,” Robotica, vol. 22,329-338, 2004. boundary following fast marching method and Bug algorithm for path
planning,” The Twenty Second International Conference on Industri-
Marching Method) 是近年來的一個突破。理論和計算結 applications; one of them is robot navigation. Now we focus our attention on im- 3. Liang TC, Liu JS, Hung G.-T. and Chang Y.-Z., 2005, “Practical and al, Engineering & Other Applications of Applied Intelligent Systems
果證明，快速推進法求解機器人路徑規畫問題是可行而 proving the effect and efficiency of the Fast Marching Methods on mobile robot flexible path planning for car-like mobile robot using maximal-curva- (IEA-AIE 2009), Tainan, Taiwan, June 2009.
ture cubic spirals,” Robotics and Autonomous Systems, vol.52, no.4,
有效的，從而為機器人路徑規畫研究提供了新的思路和 path planning problem. The following are some of our aims: pp.312-335, 2005. 16. Chou YS, Liu JS, 2009, “An efficient path planner combining random-
方法。此課題目前我們的方向有幾個： sampling and fuzzy systems,”14 IEEE International Conference on
th
1. Environment Construction: We are trying to develop a robot mapping algorithm 4. LiuJS, Kao JI, Chang YZ, 2006, “Collision detection of deformable Methods and Models in Automation and Robotics, Miedzyzdroje, Po-
1. 首先是環境建構部份。智慧型機器人必須能準確的探 that could efficiently construct the geometric map of the environment using a polyhedral objects via inner-outer ellipsoids,” 2006 IEEE Interna- land , August 2009.
tional Conference on Intelligent robots and Systems, Beijing, Oct.
測環境並且建立一個準確的環境地圖，以最快的時間 laser range finder mounted on a mobile robot.
2006. 17. Ho YJ, Liu JS, 2009, “Smoothing Voronoi-based obstacle avoiding
完成這些動作。由於訊號的誤差、定位的誤差甚至是 2. Data Structure: The complexity of FMM algorithm with heap priority queue is path by length-minimizing composite Bezier curve, “ International
機器人與地面磨擦力產生的誤差，都會造成重建地圖 O(NlogN). We could lower the complexity by implicating with other data struc- 5. Chien YR, LiuJS, 2006, “Learning the Stylistic Similarity Between Conference On interactive and Service Robotics, Taipei, Taiwan,
Human Motions, ” 2nd International Symposium on Visual Comput-
的不完整，相對影響到定位的精準度，因此如何發展 ture. ing, Lake Tahoe, Nov. 2006; Lecture Notes in Computer Science Aug. 2009.
出有效的演算法來降低這些誤差並且不耗費大量的計 4291, pp.170-179, 2006. 18. Wei JH, Liu JS, 2009, “Mobile Robot Path Planning with η3–Splines
算時間，是本實驗室目前研究的主要方向之一。 3. Combine with Other Methods (e.g. Landmark): The searching range of FMM could 6. Hung GT, Liu JS, Chang YZ, 2006,“Generation of multiple cubic spi- Using Spatial-Fitness-Sharing Variable-length Genetic Algorithm,”
be shrunk with the guidance of landmark. However this will result in more devia- ral paths for obstacle avoidance of car-like mobile robots using evo- 2009 IEEE International Conference on Intelligent Robots and Sys-
2. 次者， Fast Marching 實現本身所採用的資料結構，也 tion need to be processed. lutionary method, ” 3rd Int. Conf. Autonomous Robots and Agents, tems, St. Louis, Missouri, USA, Oct., 2009.
是可以改良的地方。目前我們使用的是 heap priority New Zealand, Dec.2006. 19. Ho YJ, Liu JS, 2009, “Collision-free curvature-bounded smooth path
queue 的方式儲存資料；但是已有採用 cyclic priority 4. 3D Extension: In real life, we live in a 3D world. Almost everything we face every- 7. Hung KT, Liu JS, Chang YZ, 2007,“A Comparative study of smooth planning using composite Bezier curve based on Voronoi diagram,”
queue 讓整個演算法複雜度降低的實例，說明這是一 day is 3D. In order to extend the application area of FMM, we have to enhance the path planning for a mobile robot by evolutionary multi-objective op- 2009 IEEE International Conference On Computational Intelligence
個可以考慮的方向。 computational efficiency and fill the gap between 2D and 3D problems. timization, ” IEEE Int. Symposium on Computational Intelligence in on Robotics and Automation, Daejeon, Korea, Dec.2009.
Robotics and Automation, Jacksonville, Florida, June 2007. 20. Ho YJ, Liu JS, 2010,” Simulated annealing based algorithm for
3. 再來是 Fast Marching 本身，我們想要藉由 Land Mark smooth robot path planning with different kinematic constraints,” 25
th
的指引，將演算法搜尋範圍縮小。但是搜尋範圍一旦 8. Pan WH, Liu JS, Ku WY, 2007, “Fast collision detection for the ACM Symposium on Applied Computing, Sierre, Switzerland, March,
scaled convex polyhedral objects with relative motion,”IEEE Int.
減少，將會影響 Fast Marching 本身的精確，如何在 Symposium on Assembly and Manufacturing, Ann Arbor, Michigan, 2010.
路線優化與計算效率之間取得適當平衡點，也是我們 July, 2007. 21. Wei JH, Liu JS, 2010, “Generating Minimax-Curvature and Shorter
要研究的課題。 9. Liu JS, Hung KT, Chang YZ, 2007,“Safe and shorter cubic spiral path η3–Spline Path Using Multi-Objective Variable-Length Genetic Al-
planning for autonomous mobile robot in the dynamic environment gorithm,” 2010 IEEE International Conference on Networking, Sens-
4. 當前我們處理的情形大都侷限在平面2維的情形，但 by evolutionary multi-objective optimization, ”International Forum ing and Control, April, 2010, Chicago, IL, USA
是未來考量到更廣範的應用，例如飛行器於 3D 空間 on Systems and Mechatronics, Tainan, Taiwan, Dec. 2007 (invited).
中的行進規劃，則 3D 情況下的 Fast Marching 之研究 10. Chiang CH, Chiang PJ, Fei Jerry C., Liu JS, 2007,“A Comparative
也是不可免。維數提高，除計算量大大增加、需要更 Study of Implementing Fast Marching Method and A* Search for
有效快速的演算機制外，還有許多在簡化的 2D 情形 Mobile Robot Path Planning in Grid Environment: Effect of Map
下所看不出來的問題等待解決處理。 Resolution,” 2007 IEEE Workshop on Advanced Robotics and its So-
cial Impact, Hsin-Chu, Taiwan, Dec. 2007.
11. Liu JS and Pan WH, 2007, “Computing range of motion for coherent
contact maintenance/transition of two moving scaled convex polyhe-
dral objects,”2007 IEEE Int. Conf. Robotics and Biomimetics, Sanya,
Hainan, China, Dec. 2007.
12. Liu JS, Hung KT, Chang YZ, 2008, “Offline smooth mobile robot
path planning in dynamic environments using evolutionary multiob-
jective optimization,” 2008 IEEE International Conference on Dis-
tributed Human-Machine Systems, Athens, Greece, Mar., 2008.
13. Wei JH, Liu JS, 2008, “ Collision-free composite eta3-splines path
planning for nonholonomic mobile robot by parallel variable-length
genetic algorithm,” Int. Conf. Computational Intelligence in Mod-
eling, Control, and Automation, Vienna, Austria, Dec. 2008.

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