• 제목/요약/키워드: Localization System

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Implementation of Indoor Localization System

  • Ryu, Dong-Wan;Kim, Sun-Hyung;Jeong, Dong-Gyu
    • International journal of advanced smart convergence
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    • 제8권3호
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    • pp.54-60
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    • 2019
  • In this paper, a localization system for indoor objects is proposed. The proposed system consists of Beacons, LED Cells, Main Cell Controller (MCC), and Display. A Beacon is attached at each indoor object, and each LED cell has Beacon Scanner and VLC Transmitter. The Visual Light Communications (VLC) and Power Line Communications (PLC) methods are used to communicate the signals for localization of indoor objects. And the proposed system is designed, and implemented as a prototype. To certify that our propose d system can exactly localize a given indoor object, we take test for the implemented system as a p rototype. Here the location of the given indoor object is known. Test is done in two ways. The first is to check the operation of the detail of the system, and the second is the position recognition of i ndoor object. The second is the test of the implemented system to correctly detect the location of the indoor object with Beacon, while the object with Beacon is moved from location C to A. The experimental result shows that the system is exactly detect the moving locations. The system has the advantages of using previously installed power lines, and it does not need to use LAN lines or optical cables. The proposed system is usefully applied to indoor object localization area.

불규칙 다경간 보의 모우드 편재현상에 관한 연구 (Mode Localization Phenomenon in Non-Periodic Multispan Beams)

  • 김동옥;이인원
    • 한국소음진동공학회:학술대회논문집
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    • 한국소음진동공학회 1997년도 춘계학술대회논문집; 경주코오롱호텔; 22-23 May 1997
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    • pp.211-216
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    • 1997
  • The mode localization phenomenon in non-periodic multispan beam is theoretically investigated. When localization occurs, the free vibration amplitude of a normal mode becomes confined to a local region of the structure. It is well known that the weakly coupled periodic structures are sensitive to certain types of periodicity-breaking disorder, resulting in the mode localization. The results of this study indicate that the mode localization occurs also in nonperiodic structures and the degrees of mode localization of some modes are very sensitive to system parameters. Free vibration analysis of simply supported two-span beams of arbitrary span lengths is performed. Degrees of mode localization and their sensitivities to system parameters are appraised by considering the characteristic graph and the structural line defined in this study first.

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Multi-Robot Localization based on Bayesian Multidimensional Scaling

  • Je, Hong-Mo;Kim, Dai-Jin
    • 한국지능정보시스템학회:학술대회논문집
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    • 한국지능정보시스템학회 2007년도 추계학술대회
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    • pp.357-361
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    • 2007
  • This paper presents a multi-robot localization based on Bayesian Multidimensional Scaling (BMDS). We propose a robust MDS to handle both the incomplete and noisy data, which is applied to solve the multi-robot localization problem. To deal with the incomplete data, we use the Nystr${\ddot{o}}$m approximation which approximates the full distance matrix. To deal with the uncertainty, we formulate a Bayesian framework for MDS which finds the posterior of coordinates of objects by means of statistical inference. We not only verify the performance of MDS-based multi-robot localization by computer simulations, but also implement a real world localization of multi-robot team. Using extensive empirical results, we show that the accuracy of the proposed method is almost similar to that of Monte Carlo Localization(MCL).

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자동차형 로봇의 도시 실외에서의 효율적인 위치 추정 및 네비게이션 시스템의 구현 (An Efficient Urban Outdoor Localization and Navigation System for Car-like Mobile Robots)

  • 윤건우;김진백;김병국
    • 제어로봇시스템학회논문지
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    • 제19권8호
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    • pp.745-754
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    • 2013
  • An efficient urban outdoor localization and navigation system is proposed for car-like robots. First an accurate outdoor localization method is suggested using line/arc features and 2.5D map matching with LRFs (Laser Range Finders), which can reduce the number of singular cases and increase accuracy. Also, path generation, path tracking, and path modification algorithms are proposed for navigation. All these algorithms are implemented on an electric scooter to construct an autonomous urban outdoor localization and navigation system. Experiments reveal the practicality of the proposed system.

센서 네트워크상의 새로운 자동 위치결정 방법 (A New Auto-Localization Scheme in Sensor Networks)

  • 김성호;장총위
    • 제어로봇시스템학회논문지
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    • 제14권9호
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    • pp.925-930
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    • 2008
  • Many sensor network applications require that each node's sensor data stream be annotated with its physical location in some coordinate system. Equipping GPS on every sensor node is often expensive and does not work in indoor deployments. Recently, cricket-based localization system is often used for indoor localization system. It is very important to know the exact position of beacons in cricket-based localization system for identifying moving sensor node's position. In this paper, a new method, Mobile Listener Detect Algorithm (MLD) which can automatically calculate the unknown newly installed beacons is proposed. For the verification of the feasibility of the proposed scheme, we have conducted several experiments.

천정 부착 칼라 패치 배열을 이용한 이동로봇의 자기위치 인식 (Localization for Mobile Robot Navigation using Color Patches Installed on the Ceiling)

  • 왕실;진홍신;마이클 스트르젤레키;김형석
    • 제어로봇시스템학회논문지
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    • 제14권2호
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    • pp.156-160
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    • 2008
  • A localization system to estimate the position as well as movement direction of mobile robots is proposed in this paper. This system implements a camera fixed on a robot and color patches evenly distributed and mounted on the planar ceiling. Different permutations of patch colors code information about robot localization. Thus, extraction of color information from patch images leads to estimation of robot position. Additionally, simple geometric indicators are combined with patch colors to estimate robot's movement direction. Since only the distribution of patch colors has to be known, the analysis of patch images to is relatively fast and simple. The proposed robot localization system has been successfully tested for navigation of sample mobile robot. Obtained test results indicate the robustness and reliability of proposed technique for robot navigation.

방향 모호성을 고려한 수중 음향 기반의 2차원 위치 추정 기술 개발 (Acoustic based Two Dimensional Underwater Localization Considering Directional Ambiguity)

  • 최진우;이영준;정종대;박정홍;최현택
    • 로봇학회논문지
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    • 제12권4호
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    • pp.402-410
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    • 2017
  • Acoustic based localization is essential to operate autonomous robotic systems in underwater environment where the use of sensorial data is limited. This paper proposes a localization method using artificial underwater acoustic sources. The proposed method acquires directional angles of acoustic sources using time difference of arrivals of two hydrophones. For this purpose, a probabilistic approach is used for accurate estimation of the time delay. Then, Gaussian sum filter based SLAM technique is used to localize both acoustic sources and underwater vehicle. It is performed by using bearing of acoustic sources as measurement and inertial sensors as prediction model. The proposed method can handle directional ambiguity of time difference based source localization by generating Gaussian models corresponding to possible locations of both front and back sides. Through these processes, the proposed method can provide reliable localization method for underwater vehicles without any prior information of source locations. The performance of the proposed method is verified by experimental results conducted in a real sea environment.

실내 자율 비행을 위한 영상 기반의 위치 인식 시스템 (Image-based Localization Recognition System for Indoor Autonomous Navigation)

  • 문성태;조동현;한상혁
    • 항공우주기술
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    • 제12권1호
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    • pp.128-136
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    • 2013
  • 최근 자율 비행에 대한 관심이 증가하면서 다양한 센서를 통한 자기 위치 인식 연구가 진행되고 있다. 특히 GPS와 같은 자기 위치를 확보할 수 없는 실내 환경의 경우, 다른 방법을 통해 자기 위치를 파악해야 한다. 실내 환경에서 자기 위치 파악에는 여러 가지 방법이 있지만 영상을 통한 위치 인식 기술이 각광을 받고 있다. 본 논문에서는 마크를 통한 영상 기반의 위치 인식 연구에 대해 설명하고, 실제 비행체에 적용하여 자율 비행하는 방법에 대해 제안한다. 그리고 마크가 없는 실제 환경에서도 위치를 인식할 수 있도록 실시간 3차원 지도 생성을 통한 위치 인식 방법에 대해서도 논의한다.

실내 환경에서의 경비로봇용 주행시스템 (A Navigation System for a Patrol Robot in Indoor Environments)

  • 최병욱;이영민;박정호;신동관
    • 로봇학회논문지
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    • 제1권2호
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    • pp.117-124
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    • 2006
  • In this paper, we develope the navigation system for patrol robots in indoor environment. The proposed system consists of PDA map modelling, a localization algorithm based on a global position sensor and an automatic charging station. For the practical use in security system, the PDA is used to build object map on the given indoor map. And the builded map is downloaded to the mobile robot and used in path planning. The global path planning is performed with a localization sensor and the downloaded map. As a main controller, we use PXA270 based hardware platform in which embedded linux 2.6 is developed. Data handling for various sensors and the localization algorithm are performed in the linux platform. Also, we implemented a local path planning algorithm for object avoidance with ultra sonar sensors. Finally, for the automatic charging, we use an infrared ray system and develop a docking algorithm. The navigation system is experimented with the two-wheeled mobile robot using North-Star localization system.

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Weighted Centroid Localization Algorithm Based on Mobile Anchor Node for Wireless Sensor Networks

  • Ma, Jun-Ling;Lee, Jung-Hyun;Rim, Kee-Wook;Han, Seung-Jin
    • 한국공간정보시스템학회 논문지
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    • 제11권2호
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    • pp.1-6
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    • 2009
  • Localization of nodes is a key technology for application of wireless sensor network. Having a GPS receiver on every sensor node is costly. In the past, several approaches, including range-based and range-free, have been proposed to calculate positions for randomly deployed sensor nodes. Most of them use some special nodes, called anchor nodes, which are assumed to know their own locations. Other sensors compute their locations based on the information provided by these anchor nodes. This paper uses a single mobile anchor node to move in the sensing field and broadcast its current position periodically. We provide a weighted centroid localization algorithm that uses coefficients, which are decided by the influence of mobile anchor node to unknown nodes, to prompt localization accuracy. We also suggest a criterion which is used to select mobile anchor node which involve in computing the position of nodes for improving localization accuracy. Weighted centroid localization algorithm is simple, and no communication is needed while locating. The localization accuracy of weighted centroid localization algorithm is better than maximum likelihood estimation which is used very often. It can be applied to many applications.

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