• 정보처리학회논문지:소프트웨어 및 데이터공학
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• 제9권3호
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• pp.77-82
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• 2020

차량에 탑재된 내비게이션의 대부분은 복잡한 구조의 PSF(Physical Storage Format) 파일 기반으로 개발되어 점증적 맵 갱신을 지원하기 어렵다. 이를 해결하기 위한 차세대 내비게이션 방법의 하나로서 DB 기반의 내비게이션 기술이 주목받고 있다. 점진적 맵 갱신을 지원하는 DB 기반 내비게이션 구현에 있어 지속적인 맵 데이터 갱신으로 인한 데이터 단편화현상으로 데이터 접근 비용이 증가할 수 있어 검색 성능의 저하가 발생할 수 있다. 본 논문에서는 점증적 맵 갱신을 지원하는 DB 기반 내비게이션의 성능 향상 방법의 하나로 데이터 단편화 방지 기법을 제시하고 실제 구현을 통하여 성능 향상 효과가 있음을 검증하였다.

• Journal of information and communication convergence engineering
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• 제8권6호
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• pp.709-715
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• 2010

This paper represents a map building and localization system for mobile robot. Map building and navigation is a complex problem because map integrity cannot be sustained by odometry alone due to errors introduced by wheel slippage, distortion and simple linealized odometry equation. For accurate localization, we propose sensor fusion system using encoder sensor and indoor GPS module as relative sensor and absolute sensor, respectively. To build a map, we developed a sensor based navigation algorithm and grid based map building algorithm based on Embedded Linux O.S. A wall following decision engine like an expert system was proposed for map building navigation. We proved this system's validity through field test.

• 한국정보과학회:학술대회논문집
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• 한국정보과학회 2000년도 봄 학술발표논문집 Vol.27 No.1 (B)
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• pp.643-645
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• 2000

This paper puts emphasis on navigation in virtual environment, which is one of the major interfaces for the interactivity between human and virtual environment in virtual reality circumstances and worlds. It proposes a new navigation method: 2d Map-Based navigation, which prevents user's spatial lost in 3D Virtual Environment. The 2D Map-Based Navigation is composed of three major processes, Constant Velocity Navigation, Collision Detection and Avoidance, and Path Adjustment. The 2D Map-Based Navigation can reduce user's difficulties and improve user's sense of presence and reality in the virtual environments. The experiment study proved that the 2D Map-Based Navigation is a very natural, straightforward and useful navigation interface in the virtual environment.

• 제어로봇시스템학회논문지
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• 제14권11호
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• pp.1189-1195
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• 2008

We introduce a MEMS-based pedestrian dead reckoning (PDR) system. A walking navigation algorithm for pedestrians is presented and map-matching algorithm for the navigation system based on dead reckoning (DR) is proposed. The PDR is equipped on the human body and provides the position information of pedestrians. And this is able to be used in ubiquitous sensor network (USN), U-hearth monitoring system, virtual reality (VR) and etc. The PDR detects a step using a novel technique and simultaneously estimates step length. Also an azimuth of the pedestrian is calculated using a fluxgate which is the one of magnetometers. Map-matching algorithm can be formulated to integrate the positioning data with the digital road network data. Map-matching algorithm not only enables the physical location to be identified from navigation system but also improves the positioning accuracy. However most of map-matching algorithms which are developed previously are for the car navigation system (CNS). Therefore they are not appropriate to implement to pedestrian navigation system based on DR system. In this paper, we propose walking navigation system and map-matching algorithm for PDR.

• 한국CDE학회논문집
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• 제19권3호
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• pp.272-280
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• 2014

Most of the car navigation systems pzrovide 2D or 3D virtual map-based driving guidance. One of the important issues is how to reduce cognitive burden to the driver who should interpret the abstracted information to real world driving information. Recently, an augmented reality (AR)-based navigation is considered as a new way to reduce cognitive workload by superimposing guidance information into the real world scene captured by the camera. In particular, head-up display (HUD) is popular to implement AR navigation. However, HUD is too expensive to be set up in most cars so that the HUD-based AR navigation is currently unrealistic for navigational assistance. Meanwhile, smartphones with advanced computing capability and various sensors are popularized and also provide navigational assistance. This paper presents a research on cognitive effect and responsiveness of an AR navigation by a comparative study with a conventional virtual map-based navigation on the same smartphone. This paper experimented both quantitative and qualitative studies to compare cognitive workload and responsiveness, respectively. The number of eye gazing at the navigation system is used to measure the cognitive effect. In addition, questionnaires are used for qualitative analysis of the responsiveness.

• 한국산업정보학회논문지
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• 제17권4호
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• pp.87-97
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• 2012

지식지도는 지식 간의 상호 연관성을 기초로 전체적인 지식의 현황을 보여주는 도식으로, 상황에 따라 다양하게 해석 및 적용될 수 있는 지식의 특성을 보다 형식화되고 정형화된 방식으로 표현하기 위해 온톨로지 기술의 적용이 필요하다. 본 연구는 지식 네트워크에 나타나는 지식 간 상호참조적 네비게이션이 가능하도록 온톨로지 기술을 기반으로 지식지도를 정의하고 표현하는 방법론을 제시한다. 제시된 방법론의 타당성을 검증하기 위하여, 온톨로지 모델링 도구인 Protege-OWL을 이용하여 실제 지식지도를 모델링하고, 몇 가지 예제를 통해 구현된 온톨로지 기반 지식지도가 실제로 지식 간의 상호참조적 네비게이션을 반영하는 지식네트워크를 구성하는지 알아본다.

• 로봇학회논문지
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• 제4권3호
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• pp.169-176
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• 2009

Low-cost sensors have been widely used for mobile robot navigation in recent years. However, navigation performance based on low-cost sensors is not good enough to be practically used. Among many navigation techniques, building of an accurate map is a fundamental task for service robots, and mapping with low-cost IR sensors was investigated in this research. The robot's orientation uncertainty was considered for mapping by modifying the Bayesian update formula. Then, the data association scheme was investigated to improve the quality of a built map when the robot's pose uncertainty was large. Six low-cost IR sensors mounted on the robot could not give rich data enough to align the range data by the scan matching method, so a new sample-based method was proposed for data association. The real experiments indicated that the mapping method proposed in this research was able to generate a useful map for navigation.

• 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.

• 대한임베디드공학회논문지
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• 제9권2호
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• pp.101-107
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• 2014

Mobile robots use an environment map of its workspace to complete the surveillance task. However grid-based maps that are commonly used map format for mobile robot navigation use a large size of memory for accurate representation of environment. In this reason, grid-based maps are not suitable for path planning of mobile robots using embedded board. In this paper, we present the path planning algorithm that produce a secure path rapidly. The proposed approach utilizes a hybrid map that uses less memory than grid map and has same efficiency of a topological map. Experimental results show that the fast path planning uses only 1.5% of the time that a grid map based path planning requires. And the results show a secure path for mobile robot.

• 지식경영연구
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• 제13권1호
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• pp.1-12
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• 2012

A knowledge map is a network-typed diagram visualizing all kinds of knowledge that influences each other to solve a problem. A knowledge map determines the structure of knowledge categorizing and archiving by defining the relationship of referential navigation among knowledge. Since tremendous and increasing number of knowledge needs to be included in a knowledge map, a knowledge map must be organized automatically by considering the contents and relationships of knowledge. This paper suggests the concept and prototype of a semi-automated knowledge map which automatically maps new piece of knowledge onto a manually provided draft map. The prototype knowledge map is based on the recursive programming to make a knowledge map automatically determine the location of the newly-entered knowledge by considering the referential relationship between knowledge. The proposed knowledge enables the knowledge network to expand autonomously by automatically including and storing knowledge. Also, it can improve the accuracy and applicability of knowledge for problem-solving, because the relationship of referential navigation among knowledge can be efficiently and effectively expressed.