제어로봇시스템학회논문지 (Journal of Institute of Control, Robotics and Systems)

  • 제22권2호
  • /
  • Pages.97-103
  • /
  • 2016
  • /
  • 1976-5622(pISSN)
  • /
  • 2233-4335(eISSN)
제어로봇시스템학회 (Institute of Control, Robotics and Systems)
권호 표지
DOI QR코드

DOI QR Code

스마트폰 제어기반의 반자율 네비게이션을 갖춘 개인용 이동 시스템 구현

Development of a Smartphone Controlled Personal Mobility System (PMS) with Semi-autonomous Navigation

  • 투고 : 2015.11.27
  • 심사 : 2016.01.13
  • 발행 : 2016.02.01
PDF 다운로드
⟨ 이전 논문 다음 논문 ⟩

초록

In this paper, a smartphone-controlled personal mobility system (PMS) with semi-autonomous navigation is developed. The proposed PMS moves to waypoints and then reaches the destination where the waypoints and destination are selected by the user using Google maps in a smartphone. The hardware environment consists of a GPS (Global Positioning System) in the smartphone and a compass sensor. In addtion, while it is moving in autonomous mode, the user can intervene and change the direction and speed of the PMS in order to avoid obstacles that may be encountered accidentally in a dynamic environment. That is why it is called "semi-autonomous navigation". Experimental results showed that the proposed PMS is effectively able to migrate to the waypoints and destination in both autonomous and manual modes.

키워드

참고문헌

  1. N. Kubota and W. Sato, "Robot design support system based on interactive evolutionary computation using boltzmann selection," Evolutionary Computation (CEC), 2010 IEEE Congress on, pp. 1-8, 2010.
  2. B. R. Geltz, J. A. Berlier, and J. M. McCollum, "Using the iPhone and iPod Touch for remote sensor control and data acquisition," Proc. of the IEEE SoutheastCon 2010 (SoutheastCon), pp. 9-12, 2010.
  3. L. YeMin and Z. Li, "Research and application of the EAN-13 barcode recognition on iphone," Proc. of 2010 International Conference on Future Information Technology and Management Engineering (FITME), vol. 2, pp. 92-95, 2010.
  4. S. Chemlal, S. Colberg, M. Satin-Smith, E. Gyuricsko, T. Hubbard, M. W. Scerbo, and F. D. McKenzie, "Blood glucose individualized prediction for type 2 diabetes using iPhone application," Proc. of 2011 IEEE 37th Annual Northeast Bioengineering Conference (NEBEC), pp. 1-2, 2011.
  5. H. K. Y. Chan, Z. Huiru, W. Haiying, R. Gawley, Y. Mingjing, and R. Sterritt, "Feasibility study on iPhone accelerometer for gait detection," Proc. of 5th International Conference on Pervasive Computing Technologies for Healthcare (Pervas- iveHealth), pp. 184-187, 2011.
  6. G. Y Park, J. H. Yun, Y. L. Choi, and J. W. Kim, "Development of android application for wireless control of omnidirectional biped walking of humanoid robot," Journal of Institute of Control, Robotics and Systems (in Korean), vol. 20, no. 4, pp. 223-231, 2014. https://doi.org/10.5302/J.ICROS.2014.13.8001
  7. H. Jung, Y. Kim, and D. H. Kim, "Communication quality analysis for remote control of a differential drive robot based on iPhone interface," Communication in Computer and Information Science (Indexed by SCOPUS), vol. 206, pp. 278-285, 2011.
  8. H. Y. Jung, C. S. Lee, Y. H. Seo, and T. K. Yang, "Touch-based moving trajectory generation and data acquisition of a mobile robot using a smart phone," Journal of the Institute of Information and Telecommunication Facility Engineering (in Korean), vol. 10, no. 3, pp. 98-102, 2011.
  9. Y. Kim and D. H. Kim, "Development of a personal riding robot controlled by a smartphone based on android OS," Journal of Institute of Control, Robotics and Systems (in Korean), vol.19, no. 7, pp. 592-598, 2013. https://doi.org/10.5302/J.ICROS.2013.13.1906
  10. Y. H. Jeon and H. Ahn, "Smart-phone based interface for mobile robot control," Proc. of Electronics Engineers of Korea 2010 Spring Conference (in Korean), vol. 33, no. 1, pp. 1951-1953, 2010.
  11. A. Argyros, P. Georgiadis, P. Trahanias, and D. Tsakiris, "Semi-autonomous navigation of a robotic wheelchair," Journal of Intelligent and Robotic Systems, vol. 34, no. 3, pp. 315-329, 2002. https://doi.org/10.1023/A:1016371922451
  12. J. Connell and P. Viola, "Cooperative control of a semi-autonomous mobile robot," Proc. IEEE International Conference on Robotics and Automation, pp. 1118-1121, 1990.
  13. K. A. Tahboub, "A semi-autonomous reactive control architecture," Journal of Intelligent and Robotic Systems, vol. 32, no. 4, pp. 445-459, 2001. https://doi.org/10.1023/A:1014295529170
  14. D. H. Kim, "Self-organization of unicycle swarm robots based on a modified particle swarm framework," International Journal of Control, Automation and Systems, vol. 8, no. 3, pp. 622-629, Jun. 2010. https://doi.org/10.1007/s12555-010-0315-4
  15. T. D. Larsen, N. A. Andersen, O. Ravn, and N. K. Poulsen, "Incorporation of time delayed measurements in a discrete-time Kalman filter," Proc. of IEEE Conference on Decision and Control, vol. 4, pp. 3972-3977, 1998.