• Journal of the Korea Society of Computer and Information
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• v.13 no.7
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• pp.67-73
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• 2008

This paper describes a system for location tracking wireless sensor nodes in an indoor environment. The sensor reading used for the location estimation is the received signal strength indication (RSSI) as given by an RF interface. By tagging users with a mobile node and deploying a number of reference nodes at fixed position in the room, the received signal strength indicator can be used to determine the position of tagged users. The system combines Euclidean distance technique with signal strength obtained by measurement driven log-normal path loss model of 2.4 GHz wireless channel. The experimental results demonstrated the ability of this system to estimate the location with a error less than 1.3m.

• The Journal of the Korea institute of electronic communication sciences
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• v.6 no.1
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• pp.148-156
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• 2011

This paper presents an implementation of autonomous navigation of a mobile robot indoors. It explains methods for map building, localization, obstacle avoidance and path planning. Geometric map is used for localization and path planning. The localization method calculates sensor data based on the map for comparison with the real sensor data. Monte Carlo Localization(MCL) method is adopted for estimation of the robot position. For obstacle avoidance, an artificial potential field generates repulsive and attractive force to the robot. Dijkstra algorithm plans the shortest distance path from a start position to a goal point. The methods integrate into autonomous navigation method and implemented for indoor navigation. The experiments show that the proposed method works well for safe autonomous navigation.

• The KIPS Transactions:PartD
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• v.19D no.3
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• pp.237-246
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• 2012

Although the development of Global Positioning System (GPS) are more and more mature, its accuracy is just acceptable for outdoor positioning, not positioning for the indoor of building and the underpass. For the positioning application area for the indoor of building and the underpass, GPS even cannot achieve that accuracy because of the construction materials while the requirement for accurate positioning in the indoor of building and the underpass, because a space, a person is necessary, may be very small space with several square meters in the indoor of building and the underpass. The Received Signal Strength (RSS) based localization is becoming a good choice especially for the indoor of building and the underpass scenarios where the WiFi signals of IEEE 802.11, Wireless LAN, are available in almost every indoor of building and the underpass. The fundamental requirement of such localization system is to estimate location from Access Point (AP) to mobile device using RSS at a specific location. The Multi-path fading effects in this process make RSS to fluctuate unpredictably, causing uncertainty in localization. To deal with this problem, the combination for the method of Neural Networks and Push-Pull Estimation is applied so that the carried along the devices can learn and make the decision of position using mobile device where it is in the indoor of building and the underpass.

• Spatial Information Research
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• v.21 no.1
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• pp.87-100
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• 2013

Recently, the use of locational information is growing rapidly. GPS technology has been adopted generally for obtaining locational information in outdoor spaces. In the other hand, the researches on indoor positioning have been carried out applying WLAN, RFID or Bluetooth technology because of the multi-path interference of GPS signal caused by the physical obstacles such as walls or columns in buildings. However, such technologies for indoor positioning cost too much to build sensing infrastructure and compute-intensive processes are involved. Furthermore, the accuracy of location estimation is variable caused by interior structures in buildings. In this study, to make up for the limitations, descriptive data such as phone number, unique room numbers, or business names readily available in mixed-use buildings is used for extracting location information. Furthermore, during the process, a geocoding method using character matching is applied to this study enabling prompt location estimation and sublating the fluctuation of accuracy caused by interior structures. Based on the proposed method in this study, an architecture is designed, and three-dimensional viewer program is developed for the implementation of this study. Also, this research is quantitatively analyzed through match rate and processing time of proposed method.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 2021.05a
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• pp.8-11
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• 2021

This paper proposes a method of estimating the optimal position of a robot in order to provide a service by approaching a user located outside the sensing area of the robot in an indoor environment. First, in order to estimate the user's location, the location in the indoor environment was estimated by applying a trilateral approach to the beacon-tag module data, and Voronoi thinning to set the optimal movement goal from the user's estimated location. Based on the generated nodes, the final location was estimated through the calculation of the user location, obstacle, and movement path, and the location accuracy of the service robot was verified through the movement of the destination of the actual robot platform.

• International Journal of Fuzzy Logic and Intelligent Systems
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• v.11 no.4
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• pp.280-285
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• 2011

Recently, with the development of service robots and the concept of ubiquitous, the position estimation of mobile objects has received great interest. Some of the localization schemes are introduced, which provide the relative location of the moving objects subjected to accumulated errors. To implement a real time localization system, a new absolute position estimation method for a mobile robot in indoor environment is proposed. Design and implementation of the localization system comes from the usage of active beacon systems (based upon RFID technology). The active beacon system is composed of an RFID receiver and an ultra-sonic transmitter. The RFID receiver gets the synchronization signal from the mobile robot and the ultra-sonic transmitter sends out the traveling signal to be used for measuring the distance. Position of a mobile robot in a three dimensional space can be calculated basically from the distance information from three beacons and the absolute position information of the beacons themselves. In some case, the mobile robot can acquire the ultrasonic signals from only one or two beacons, due to the obstacles located along the moving path. In this paper, a position estimation scheme using fewer than three sensors is developed. Also, the extended Kalman filter algorithm is applied for the improvement of position estimation accuracy of the mobile robot.

• KIPS Transactions on Computer and Communication Systems
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• v.2 no.10
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• pp.427-436
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• 2013

In this paper, a method of moving path control of an automatic guided vehicle in an indoor environment through recognition of marker images using vision sensors is presented. The existing AGV moving control system using infrared-ray sensors and landmarks have faced at two critical problems. Since there are many windows in a crematorium, they are going to let in too much sunlight in the main hall which is the moving area of AGVs. Sunlight affects the correct recognition of landmarks due to refraction and/or reflection of sunlight. The second one is that a crematorium has a narrow indoor environment compared to typical industrial fields. Particularly when an AVG changes its direction to enter the designated furnace the information provided by guided sensors cannot be utilized to estimate its location because the rotating space is too narrow to get them. To resolve the occurrences of such circumstances that cannot access sensing data in a WSN environment, a relative distance from marker to an AGV will be used as fingerprinting used for location estimation. Compared to the existing fingerprinting method which uses RSS, our proposed method may result in a higher reliable estimation of location. Our experimental results show that the proposed method proves the correctness and applicability. In addition, our proposed approach will be applied to the AGV system in the crematorium so that it can transport a dead body safely from the loading place to its rightful destination.

• Journal of Advanced Marine Engineering and Technology
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• v.38 no.5
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• pp.566-572
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• 2014

Recently, indoor navigation has been applied in large convention centers by using wireless sensor networks (WSNs), which provide not only a user's path to be traveled but also orientation and shopping information to increase user's convenience. This paper presents the localization system for estimating relative coordinates without pre-deployment of the reference node based on ultra wide band (UWB) ranging system, which is relatively suitable for indoor localization compared to other wireless communications, and azimuth sensor. The proposed localization system which consists of an azimuth sensor and a mobile node composed of three nodes estimates relative coordinates of the reference node without applying any recursive and time consumption algorithms. Also, in the process of estimating relative coordinates of the reference node, ranging errors are minimized through the proposed technique and the number of nodes can be reduced. Experimental results show the feasibility and validity of the proposed system.

• Journal of Institute of Control, Robotics and Systems
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• v.11 no.12
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• pp.996-1001
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• 2005

Recently, with the development of service robots and with the new concept of ubiquitous world, the position estimation of mobile objects has been raised to an important problem. As pre-liminary research results, some of the localization schemes are introduced, which provide the relative location of the moving objects subjected to accumulated errors. To implement a real time localization system, a new absolute position estimation method for a mobile robot in indoor environment is proposed in this paper. Design and implementation of the localization system comes from the usage of active beacon systems (based upon RFID technology). The active beacon system is composed of an RFID receiver and an ultra-sonic transmitter: 1. The RFID receiver gets the synchronization signal from the mobile robot and 2. The ultra-sonic transmitter sends out the traveling signal to be used for measuring the distance. Position of a mobile robot in a three dimensional space can be calculated basically from the distance information from. Three beacons and the absolute position information of the beacons themselves. In some case, the mobile robot can get the ultrasonic signals from only one or two beacons, because of the obstacles located along the moving path. Therefore, in this paper, as one of our dedicated contribution, the position estimation scheme with less than three sensors has been developed. Also, the extended Kalman filter algorithm is applied for the improvement of position estimation accuracy of the mobile robot.

• The Transactions of the Korean Institute of Electrical Engineers
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• v.45 no.2
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• pp.310-318
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• 1996

It is very important for a mobile robot to estimate its current position With precise information about the current position, the mobile robot can do path-planning or environmental map building successfully. In this paper, a position estimation method using one color image is presented. The mobile robot(K2A) takes an image of a corridor and searches for the door and pillar, which are the given landmarks. The color information is used to distinguish the landmarks. In order to represent the presence of the landmarks, Image Mode is defined. This method adopts Kullback information distance. If a landmark is detected, with the color information, the mobile robot identifies the vertical line of the landmark and its crossing point and an experimental navigation is performed.