• ETRI Journal
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• 제40권4호
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• pp.446-457
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• 2018

Robot navigation allows robot mobility. Therefore, mobility is an area of robotics that has been actively investigated since robots were first developed. In recent years, interest in personal service robots for homes and public facilities has increased. As a result, robot navigation within the home environment, which is an indoor environment, is being actively investigated. However, the problem with conventional navigation algorithms is that they require a large computation time for their building mapping and path planning processes. This problem makes it difficult to cope with an environment that changes in real-time. Therefore, we propose a humanoid robot navigation algorithm consisting of an image processing and optimization algorithm. This algorithm realizes navigation with less computation time than conventional navigation algorithms using map building and path planning processes, and can cope with an environment that changes in real-time.

• Journal of Positioning, Navigation, and Timing
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• 제6권4호
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• pp.181-194
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• 2017

In recent years, research has been actively conducted on the navigation in an indoor environment where Global Navigation Satellite System signals are unavailable. Among them, a study performed indoor navigation by integrating pseudolite carrier and Inertial Measurement Unit (IMU) sensor. However, in this case, there was no solution for the cycle slip occurring in the carrier. In another study, cycle slip detection and compensation were performed by integrating Global Positioning System (GPS) and IMU in an outdoor environment. However, in an indoor environment, cycle slip occurs more easily and frequently, and thus the occurrence of half cycle slip also increases. Accordingly, cycle slip detection based on 1 cycle unit has limitations. Therefore, in the present study, the aforementioned problems were resolved by performing indoor navigation through the integration of pseudolite and ultra-low-cost IMU embedded in a smartphone and by performing half cycle slip detection and compensation based on this. In addition, it was verified through the actual implementation of real-time navigation.

• KSII Transactions on Internet and Information Systems (TIIS)
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• 제13권9호
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• pp.4606-4623
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• 2019

Nowadays modern cities develop in a very rapid speed. Buildings become larger than ever and the interior structures of the buildings are even more complex. This drives a high demand for precise and accurate indoor navigation systems. Although the existing commercially available 2D indoor navigation system can help users quickly find the best path to their destination, it does not intuitively guide users to their destination. In contrast, an indoor navigation system combined with augmented reality technology can efficiently guide the user to the destination in real time. Such practical applications still have various problems like position accuracy, position drift, and calculation delay, which causes errors in the navigation route and result in navigation failure. During the navigation process, the large computation load and frequent correction of the displayed paths can be a huge burden for the terminal device. Therefore, the navigation algorithm and navigation logic need to be improved in the practical applications. This paper proposes an improved navigation algorithm and navigation logic to solve the problems, creating a more accurate and effective augmented reality indoor navigation system.

• IEIE Transactions on Smart Processing and Computing
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• 제4권3호
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• pp.173-182
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• 2015

A real-time, Indoor navigation systems utilize ultra-wide band (UWB), radio-frequency identification (RFID) and received signal strength (RSS) techniques that encompass WiFi, FM, mobile communications, and other similar technologies. These systems typically require surplus infrastructure for their implementation, which results in significantly increased costs and complexity. Therefore, as a solution to reduce the level of cost and complexity, an inertial measurement unit (IMU) and quick response (QR) codes are utilized in this paper to facilitate navigation with the assistance of a smartphone. The QR code helps to compensate for errors caused by the pedestrian dead reckoning (PDR) algorithm, thereby providing more accurate localization. The proposed algorithm having IMU in conjunction with QR code shows an accuracy of 0.64 m which is higher than existing indoor navigation techniques.

• 한국산업융합학회 논문집
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• 제23권2_2호
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• pp.255-261
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• 2020

We consider the problem of autonomously flying a quadcopter in indoor environments. Navigation in indoor settings poses two major issues. First, real time recognition of the marker captured by the camera. Second, The combination of the distributed images is used to determine the position and orientation of the quadcopter in an indoor environment. We autonomously fly a miniature RC quadcopter in small known environments using an on-board camera as the only sensor. We use an algorithm that combines data-driven image classification with image-combine techniques on the images captured by the camera to achieve real 3D localization and navigation.

• Journal of Ubiquitous Convergence Technology
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• 제2권2호
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• pp.67-77
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• 2008

Representation of various types of information in an interactive virtual reality environment on mobile devices had been an attractive and valuable research in this new era. Our main focus is presenting spatial indoor location sensing information in 3D perception in mind to replace the traditional 2D floor map using handheld PDA. Designation of 3D virtual reality by Virtual Reality Modeling Language (VRML) demonstrates its powerful ability in providing lots of useful positioning information for PDA user in real-time situation. Furthermore, by interpolating portal culling algorithm would reduce the 3D graphics rendering time on low power processing PDA significantly. By fully utilizing the CC2420 chipbased sensor nodes, wireless sensor network was established to locate user position based on Received Signal Strength Indication (RSSI) signals. Implementation of RSSI-based indoor tracking method is low-cost solution. However, due to signal diffraction, shadowing and multipath fading, high accuracy of sensing information is unable to obtain even though with sophisticated indoor estimation methods. Therefore, low complexity and flexible accuracy refinement algorithm was proposed to obtain high precision indoor sensing information. User indoor position is updated synchronously in virtual reality to real physical world. Moreover, assignment of magnetic compass could provide dynamic orientation information of user current viewpoint in real-time.

• 한국통신학회논문지
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• 제30권6A호
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• pp.481-487
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• 2005

이동형 로봇의 자율주행 능력을 높이기 위해서는 미리 알려진 주위 환경 특징들을 효과적으로 인식하는 방법의 개발이 매우 중요하다. 본 논문은 실내 로봇 주행 환경 내에서 위치 및 방향 정보가 미리 알려져 있는 벽과 모퉁이 같은 환경 특징들을 초음파 센서를 이용하여 실시간적으로 인식하는 방법을 제안한다. 초음파 센서는 한 개의 초음파 송신기와 이를 중심으로 적절한 거리에 대칭적으로 위치된 두 개의 초음파 수신기로 구성된다. 초음파 센서로부터 얻어진 정보는 확장 칼만 필터를 이용하여 기존 방법과는 달리 실시간적으로 처리됨으로써 인식된 환경 특징들에 대해 상대적으로 로봇의 위치 및 방향의 보정을 가능하게 한다.

• Journal of Construction Engineering and Project Management
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• 제6권2호
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• pp.30-39
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• 2016

This research presents the development of a self-governing mobile robot navigation system for indoor construction applications. This self-governing robot navigation system integrated robot control units, various positioning techniques including a dead-reckoning system, a UWB platform and motion sensors, with a BIM path planner solution. Various algorithms and error correction methods have been tested for all the employed sensors and other components to improve the positioning and navigation capability of the system. The research demonstrated that the path planner utilizing a BIM model as a navigation site map could effectively extract an efficient path for the robot, and could be executed in a real-time application for construction environments. Several navigation strategies with a mobile robot were tested with various combinations of localization sensors including wheel encoders, sonar/infrared/thermal proximity sensors, motion sensors, a digital compass, and UWB. The system successfully demonstrated the ability to plan an efficient path for robot's movement and properly navigate through the planned path to reach the specified destination in a complex indoor construction site. The findings can be adopted to several potential construction or manufacturing applications such as robotic material delivery, inspection, and onsite security.

• 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.

• 제어로봇시스템학회논문지
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• 제11권12호
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• pp.1068-1076
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• 2005

In order to increase the autonomous navigation capability of a mobile robot, it is very crucial to develop a method for the robot to be able to recognize a priori hon structured environmental characteristics. This paper proposes an ultrasonic sensor based real-time method for recognizing a priori known structured indoor environmental characteristics like a wall and comer Unlike the methods reported in the literature the information obtained from the sensor can be processed in real-time by extended Kalman filter to update estimations of the position and orientation of robot with respect to known environmental characteristics.