• 제어로봇시스템학회논문지
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• 제10권9호
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• pp.785-798
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• 2004

This paper introduces the development of a range sensor based integrated navigation system for a multi-functional indoor service robot, called PSR (Public Service Robot System). The proposed navigation system includes hardware integration for sensors and actuators, the development of crucial navigation algorithms like mapping, localization, and path planning, and planning scheme such as error/fault handling. Major advantages of the proposed system are as follows: 1) A range sensor based generalized navigation system. 2) No need for the modification of environments. 3) Intelligent navigation-related components. 4) Framework supporting the selection of multiple behaviors and error/fault handling schemes. Experimental results are presented in order to show the feasibility of the proposed navigation system. The result of this research has been successfully applied to our three service robots in a variety of task domains including a delivery, a patrol, a guide, and a floor cleaning task.

• 한국컴퓨터정보학회:학술대회논문집
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• 한국컴퓨터정보학회 2012년도 제45차 동계학술발표논문집 20권1호
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• pp.173-175
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• 2012

To spread the incredible experience of wandering around a building, we propose the architecture of indoor navigation system based on inter-floor. Firstly, we combine trilateration method with Fingerprint Positioning Algorithm for positioning and Dijkstra Algorithm for calculating paths. Then the system can get the user's current locations and provide relevant paths according to the user's choice. Moreover, it can also provide the navigation path which takes the inter-floor information into consideration. It breaks the traditional navigation based on planar graph and has abundant business value.

• 한국전자통신학회논문지
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• 제12권1호
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• pp.31-38
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• 2017

건축 기술의 발전에 따라 건축물이 대형화되고 실내 구조가 복잡해지고 있기 때문에 사용자가 목적지까지 이동하기 위한 경로를 파악하기 어려워지고 있다. 그러나 기존의 경로 안내 시스템은 GPS를 사용하기 때문에 실내에서 사용하기 어려운 문제가 있다. 이 논문에서는 이를 해결하기 위하여 비컨을 이용한 실내 경로 안내 시스템을 제안한다. 제안한 시스템은 사용자의 스마트폰에서 블루투스를 이용하여 기 설치되어 있는 비컨에 접속한다. 그리고 수신된 비컨의 데이터를 이용하여 현재 위치를 파악하고 목적지까지 경로를 생성한 다음에 사용자에게 안내한다. 구현된 시스템은 복잡한 실내에서 사용자가 쉽게 목적지까지 이동할 수 있는 경로를 안내할 수 있는 장점이 있다.

• 한국인터넷방송통신학회논문지
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• 제14권1호
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• pp.23-30
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• 2014

LED 조명기구로의 전환은 홈네트워크 등에서 단순히 기계적 연동에 의해 전원제어만이 고려되던 조명기구를 조명과 무선통신이 결합된 하나의 IT 컨버전스(Convergence)로 변환시켰고, 그 구체적인 예가 바로 Visible Light Communication(VLC) 즉 가시광 무선통신이다. VLC의 대표적인 응용으로 고정밀의 실내 위치측정을 기반으로 하는 실내 내비게이션 시스템을 들 수 있다. 본 논문에서는 대형 건물에서 주로 사용되는 형광등 타입의 LED 조명기구와 현재 사용자 단말로 가장 흔하게 사용되는 스마트 기기를 실내 내비게이션 시스템의 구성요소로 고려하는 VLC 기반의 스마트 기기를 이용한 실내 내비게이션 시스템을 모델링하고 구현함으로써 VLC 응용개발의 구현성과 스마트 기기와의 융합성 연구를 보다 용이하게 하고자 한다.

• 센서학회지
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• 제16권2호
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• pp.110-114
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• 2007

In this paper we present 3-D Navigation View, a three-dimensional visualization of indoor environment which serves as an intuitive and unified user interface for our developed indoor location tracking system via Virtual Reality Modeling Language (VRML) in web environment. The extracted user's spatial information from indoor location tracking system was further processed to facilitate the location indication in virtual 3-D indoor environment based on his location in physical world. External Authoring Interface (EAI) provided by VRML enables the integration of interactive 3-D graphics into web and direct communication with the encapsulated Java applet to update position and viewpoint of user periodically in 3-D indoor environment. As any web browser with VRML viewer plug-in is able to run the platform independent 3-D Navigation View, specialized and expensive hardware or software can be disregarded.

• 로봇학회논문지
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• 제9권3호
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• pp.154-159
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• 2014

The Global Positioning System (GPS) is widely used to aid the navigation of aerial vehicles. However, the GPS cannot be used indoors, so alternative navigation methods are needed to be developed for micro aerial vehicles (MAVs) flying in GPS-denied environments. In this paper, a real-time three-dimensional (3-D) indoor navigation system and closed-loop control of a quad-rotor aerial vehicle equipped with an inertial measurement unit (IMU) and a low-cost light detection and ranging (LIDAR) is presented. In order to estimate the pose of the vehicle equipped with the two-dimensional LIDAR, an octree-based grid map and Monte-Carlo Localization (MCL) are adopted. The navigation results using the MCL are then evaluated by making a comparison with a motion capture system. Finally, the results are used for closed-loop control in order to validate its positioning accuracy during procedures for stable hovering and waypoint-following.

• 제어로봇시스템학회논문지
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• 제15권7호
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• pp.720-727
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• 2009

This paper proposes a new integrated navigation system for a mobile robot in indoor environments. This system consists of five frameworks which are classified by function. This architecture can make the navigation system scalable and flexible. The robot can recover from exceptional situations, such as environmental changes, failure of entering the narrow path, and path occupation by moving objects, using the exception recovery framework. The environmental change can be dealt with using the probabilistic approach, and the problems with the narrow path and path occupation are solved using the ray casting algorithm and the Bayesian update rule. The proposed navigation system was successfully applied to several robots and operated in various environments. Experimental results showed good performance in that the exception recovery framework significantly increased the success rate of navigation. The system architecture proposed in this paper can reduce the time for developing robot applications through its reusability and changeability.

• Spatial Information Research
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• 제21권2호
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• pp.1-9
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• 2013

최근 이동통신 기술의 발전으로 실내에서의 위치 획득 기술이 용이해지면서 실내 내비게이션 시스템에 대한 연구가 각광을 받고 있다. 최적화된 실내 내비게이션은 크고 복잡한 실내에서의 활동을 위해 빠른 경로를 제공한다. 그러나 기존의 실내 내비게이션 알고리즘 연구들에서는 공간 토폴로지 또는 실내 네트워크에 기반하여 대략적인 경로를 도출한다. 본 논문에서는 공간 토폴로지 분석과 실내 내트워크를 통합 분석하여 실내 경로를 계산하는 알고리즘을 제안한다. 제안 알고리즘은 전문적인 실내지도가 아닌 간소화된 실내 지도 데이터를 활용하여 실내 네트워크와 공간 토폴로지의 혼합 분석을 통해 실내 경로의 길이를 줄일 수 있다. 성능평가를 통해 FT-Indoornavi 알고리즘이 기존의 엘라스틱 알고리즘과 iNav 알고리즘보다 더 빨리 실내 경로를 계산할 수 있음을 보여준다.

• 로봇학회논문지
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• 제5권3호
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• pp.231-239
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• 2010

For indoor mobile robots, the performance of autonomous navigation is affected by a variety of factors. In this paper, we focus on the characteristics of indoor absolute positioning systems. Two commercially available sensor systems are experimentally tested under various conditions. Mobile robot navigation experiments were carried out, and the results show that resultant performance of navigation is highly dependent upon the characteristics of positioning systems. The limitations and characteristics of positioning systems are analyzed from both quantitative and qualitative point of view. On the basis of the analysis, the relationship between the positioning system characteristics and the controller design are presented.

• 대한전기학회:학술대회논문집
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• 대한전기학회 1999년도 하계학술대회 논문집 G
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• pp.3105-3107
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• 1999

In this paper, we propose a new approach to autonomous wall-following of wheeled mobile robots using hybrid control system. The hybrid control approach IS introduced to the motion control of nonholonomic mobile robots in the Indoor navigation problems. In hybrid control architecture, the discrete states are defined by the user-defined constraints, and the reference motion commands are specified In the abstracted motions. The hybrid control system applied to motion planning and autonomous navigation with obstacle avoidance In indoor navigation problem. Simulation results show that it is an effective method for the autonomous navigation in indoor environments.