• KSII Transactions on Internet and Information Systems (TIIS)
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• 제12권8호
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• pp.3657-3682
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• 2018

This paper presents a Bluetooth and pedestrian dead reckoning (PDR)-based indoor fusion localization approach (BtPDR) using smartphones. A Bluetooth and PDR-based indoor fusion localization approach can localize the initial position of a smartphone with the received signal strength (RSS) of Bluetooth. While a smartphone is moving, BtPDR can track its position by fusing the localization results of PDR and Bluetooth RSS. In addition, BtPDR can adaptively modify the parameters of PDR. The contributions of BtPDR include: a Bluetooth RSS-based Probabilistic Voting (BRPV) localization mechanism, a probabilistic voting-based Bluetooth RSS and PDR fusion method, and a heuristic search approach for reducing the complexity of BRPV. The experiment results in a real scene show that the average positioning error is < 2m, which is considered adequate for indoor location-based service applications. Moreover, compared to the traditional PDR method, BtPDR improves the location accuracy by 42.6%, on average. Compared to state-of-the-art Wireless Local Area Network (WLAN) fingerprint + PDR-based fusion indoor localization approaches, BtPDR has better positioning accuracy and does not need the same offline workload as a fingerprint algorithm.

• 한국정보통신학회:학술대회논문집
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• 한국해양정보통신학회 2009년도 추계학술대회
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• pp.1053-1056
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• 2009

본 논문에서는 실내외 환경에서 상호 정보를 바탕으로 대상의 위치를 추적할 수 있는 영역축소 기법을 이용한 협력 위치추정 알고리즘을 제안하였다. 제안한 알고리즘은 고정노드의 수가 제한된 환경에서 미지의 노드 위치 정보를 활용한 상호 협력적인 위치추정 방식으로 본 연구에서는 3단계에 걸쳐 노드의 위치를 추정하였다. 실험 결과 동일한 개수의 RN일 때 BN의 수가 증가할수록 본 논문에서 제안한 영역축소 방법을 이용한 협력위치추정의 정밀도가 향상됨을 확인하였다.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1997년도 한국자동제어학술회의논문집; 한국전력공사 서울연수원; 17-18 Oct. 1997
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• pp.44-47
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• 1997

Building a reliable mobile robot - one that can navigate without failures for long periods of time - requires that the uncertainty which results from control and sensing is bounded. This paper proposes a new mobile robot localization method using artificial landmarks. For a mobile robot localization, the proposed method uses a camera calibration(only extrinsic parameters). We use the FANUC arc mate to estimate the posture error, and the result shows that the position error is less than 1 cm and the orientation error less than 1 degrees.

• 비파괴검사학회지
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• 제32권6호
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• pp.703-710
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• 2012

A structural health monitoring technique for locating impact position in a composite plate is presented in this paper. The method employs a single sensor and spatial focusing properties of time reversal(TR) and inverse filtering(IF). We first examine the spatial focusing efficiency of both approaches at the impact position and its surroundings through impact experiments. The imaging results of impact localization show that the impact location can be accurately estimated in any position of the plate. Compared to existing techniques for locating impact or acoustic emission source, the proposed method has the benefits of using a single sensor and not requiring knowledge of anisotropic material properties and geometry of structures. Furthermore, it does not depend on a particular mode of dispersive Lamb waves that is frequently used in other ultrasonic testing of plate-like structures.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2008년도 학술대회 논문집 정보 및 제어부문
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• pp.91-92
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• 2008

Localization and its applications are very important area of the mobile robot technology. Especially, accurate localization is needed when we move the mobile robot to the goal position. In indoor cases, Global Positioning System(GPS) is not suitable but Radio Frequency Identification(RFID) technology can provide position data to the robot. A proposed algorithm in this paper uses not only odometry data but also RFID data to improve estimation of true position of the robot with the particle filtering.

• 대한전자공학회:학술대회논문집
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• 대한전자공학회 2008년도 하계종합학술대회
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• pp.1061-1062
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• 2008

Rodents demonstrate an outstanding capability for tactile perceptions using their whiskers. The mechanoreceptors in the whisker follicles are responsive to the deflections or vibrations of the whisker beams. It is believed that the sensor processing can determine the location of an object in touch, that is, the angular position and direction of the object. We designed artificial whiskers modelling the real whiskers and tested tactile localization. The robotic system needs to adjust its position against an object to help the shape recognition. We show a robotic adjustment of position based on tactile localization. The behaviour uses deflection curves of the whisker sensors for every sweep of whiskers and estimates the location of a target object.

• 제어로봇시스템학회논문지
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• 제14권8호
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• pp.752-759
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• 2008

In this paper, we propose a high accurate geo-location system based on a single base station, where its location is obtained by Time-of-Arrival(ToA) and Direction-of-Arrival(DoA) of the radio signal. For estimating accurate ToA and DoA information, a MUltiple SIgnal Classification(MUSIC) is adopted. However, the estimation of ToA and DoA using MUSIC algorithm is a time-consuming process. The position tracking bias is occurred by the time delay caused by the estimation process. In order to mitigate the bias error, we propose the estimation method of the position tracking bias and compensate the location error produced by the time delay using the position tracking bias mitigation. For accurate self-localization of mobile robot, the Unscented Kalman Filter(UKF) with position tracking bias is applied. The simulation results show the efficiency and accuracy of the proposed geo-location system and the enhanced performance when the Unscented Kalman Filter is adopted for mobile robot application.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2002년도 ICCAS
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• pp.37.1-37
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• 2002

Localization is one of the most important functions for the mobile robot navigating in the unstructured environment. Most of previous localization schemes estimate current position and pose of mobile robot by applying various localization algorithms with the information obtained from sensors which are set on the mobile robot, or by recognizing an artificial landmark attached on the wall, or objects of the environment as natural landmark in the indoor environment. Several drawbacks about them have been brought up. To compensate the drawbacks, a new localization method that estimates the global position of the mobile robot by using a camera set on ceiling in the corridor is proposed. This sch...

• Journal of Mechanical Science and Technology
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• 제16권3호
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• pp.302-309
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• 2002

This paper presents a technique for localization of a mobile robot using sonar sensors. Localization is the continual provision of knowledges of position that are deduced from its a priori position estimation. The environment of a robot is modeled by a two-dimensional grid map. We define a physically based sonar sensor model and employ an extended Kalman filter to estimate positions of the robot. Since the approach does not rely on an exact geometric model of an object, it is very simple and offers sufficient generality such that integration with concurrent mapping and localizing can be achieved without major modifications. The performance and simplicity of the approach are demonstrated with the results produced by sets of experiments using a mobile robot equipped with sonar sensors.

• 한국소음진동공학회:학술대회논문집
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• 한국소음진동공학회 2012년도 추계학술대회 논문집
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• pp.715-722
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• 2012

A structural health monitoring (SHM) technique for locating impact position in a composite plate is presented in this paper. The technique employs a single sensor and spatial focusing properties of time reversal (TR) and inverse filtering (IF). We first examine the focusing effect of back-propagated signal at the impact position and its surroundings through simulation. Impact experiments are then carried out and the localization images are found using the TR and IF signal processing, respectively. Both techniques provide accurate impact location results. Compared to existing techniques for locating impact or acoustic emission source, the proposed methods have the benefits of using a single sensor and not requiring knowledge of material properties and geometry of structures. Furthermore, it does not depend on a particular mode of dispersive Lamb waves that is frequently used in the SHM of plate-like structures.