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Dag, Antymos. "Autonomous Indoor Navigation System for Mobile Robots." Thesis, Linköpings universitet, Programvara och system, 2016. http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-129419.
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With an increasing need for greater traffic safety, there is an increasing demand for means by which solutions to the traffic safety problem can be studied. The purpose of this thesis is to investigate the feasibility of using an autonomous indoor navigation system as a component in a demonstration system for studying cooperative vehicular scenarios. Our method involves developing and evaluating such a navigation system. Our navigation system uses a pre-existing localization system based on passive RFID, odometry and a particle filter. The localization system is used to estimate the robot pose, which is used to calculate a trajectory to the goal. A control system with a feedback loop is used to control the robot actuators and to drive the robot to the goal. The results of our evaluation tests show that the system generally fulfills the performance requirements stated for the tests. There is however some uncertainty about the consistency of its performance. Results did not indicate that this was caused by the choice of localization techniques. The conclusion is that an autonomous navigation system using the aforementioned localization techniques is plausible for use in a demonstration system. However, we suggest that the system is further tested and evaluated before it is used with applications where accuracy is prioritized.
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Bao, Qiwei. "An Indoor-Oriented Localization And Navigation System." Case Western Reserve University School of Graduate Studies / OhioLINK, 2019. http://rave.ohiolink.edu/etdc/view?acc_num=case1544197463942464.
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Säll, Joel, and Johnny Merkel. "Indoor Navigation Using Accelerometer and Magnetometer." Thesis, Linköpings universitet, Institutionen för systemteknik, 2011. http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-71277.
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This project will create a navigation system based on dead reckoning using anaccelerometer and a magnetometer. There have previously been several studiesmade on navigation with accelerometers, magnetometers (electronic compass) andgyros. With these three components it is possible to do positioning and differentkinds of movement analyses. There are several methods for detection of movementand calculation of position. To achieve greater accuracy in these applications,gyros are often used. Compared to magnetometers and accelerometer gyrosconsumes a lot of power. In an embedded system with limited power suppliesfrom a battery this may be unacceptable. In this project a positioning system without a gyro have been developedand evaluated. Is this possible to do, and what accuracy is possible to achieve arequestions asked.Algorithms have been developed and tested in MATLAB. The project is based ona device called a BeeBadge, part of the project will be to transfer the developedalgorithms from MATLAB to C-code. Optimizations of the code will be performeddue to the constraints in the memory and speed of the microcontroller on theBeeBadge.
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Olevall, Adam Hernod, and Mathieu Fuchs. "Indoor Navigation And PersonalTracking System Using BluetoothLow Energy Beacons." Thesis, Uppsala universitet, Institutionen för informationsteknologi, 2017. http://urn.kb.se/resolve?urn=urn:nbn:se:uu:diva-331256.
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Navigation systems for outdoor purposes have been around us for several years.Recently, it has emerged for indoor use. Thanks to techniques as Bluetooth and Wi-Fi, public places like shopping malls have come up with solutions that help theirvisitors navigate through the area. At the same time, an approach called crowd-sourced localization has hit the market. It is a technique where people help eachother to track down lost assets by getting close enough to an attached device andregister its coordinates. In this thesis, these two techniques were combined to build and evaluate anapplication which handles the indoor positioning system with a new approach. Theexpensive part of the system is already included in the users and visitorssmartphones. The program consists of positioning the user, while activelysearching the near area for lost objects. This means that the only cost for the clientis to pay for the relatively cheap beacons attached to the walls and ceiling, whichare used to locate the users in the building. Tests were done to evaluate how accurate the algorithm was when deciding theposition of the lost object. The practical number of smartphones required to findthe lost asset were also evaluated. Beside these technical aspects a user centeredsurvey was done to understand if people are willing to use such a system. The results showed inconsistency in term of accuracy, but it also showed that itwas sufficient for finding the lost asset by this approach. By looking at the resultsfrom the different tests that were made a conclusion can be drawn that it requiresapproximately one user per every 360 to 450 m2 to locate an asset below 10seconds, all depending on the mobility of the asset.
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Miu, Allen Ka Lun 1977. "Design and implementation of an indoor mobile navigation system." Thesis, Massachusetts Institute of Technology, 2002. http://hdl.handle.net/1721.1/16810.
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Thesis (S.M.)--Massachusetts Institute of Technology, Dept. of Electrical Engineering and Computer Science, 2002.<br>Includes bibliographical references (p. 59-60).<br>This electronic version was submitted by the student author. The certified thesis is available in the Institute Archives and Special Collections.<br>This thesis describes the design and implementation of CricketNav, an indoor mobile navigation system using the Cricket indoor location sensing infrastructure developed at the MIT Laboratory for Computer Science as part of Project Oxygen. CricketNav navigates users to the desired destination by displaying a navigation arrow on a map. Both the direction and the position of the navigation arrow are updated in real-time as CricketNav steers the users through a dynamically computed path. To support CricketNav, we developed a modular data processing architecture for the Cricket location system, and an API for accessing location information. We implemented a least-squares position estimation algorithm in Cricket and evaluated its performance. We also developed a rich and compact representation of spatial information, and an automated process to extract this information from architectural CAD floorplans.<br>by Allen Ka Lun Miu.<br>S.M.
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Ran, Yingchun. "Drishti an integrated indoor/outdoor navigation system and service /." [Gainesville, Fla.] : University of Florida, 2003. http://purl.fcla.edu/fcla/etd/UFE0000774.
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Chung, Jaewoo. "Mindful navigation with guiding light : design considerations for projector based indoor navigation assistance system." Thesis, Massachusetts Institute of Technology, 2012. http://hdl.handle.net/1721.1/70808.
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Thesis (Ph. D.)--Massachusetts Institute of Technology, School of Architecture and Planning, Program in Media Arts and Sciences, 2012.<br>Cataloged from PDF version of thesis.<br>Includes bibliographical references (p. 113-117).<br>People can easily become mindless in their decision-making and become disengaged from their surroundings when their actions depend on information and guidance from an assistive technology. Research has shown how automated navigation assistance systems lead users to be disengaged from the space through which they are traveling, resulting in poor recollection of the environment and poorer situational decision-making. This disengagement and mindlessness can potentially increase the risk of accidents and lower the quality of user experience. If we can help people become mindfully attentive to the environment and surroundings while carrying out navigation tasks using assistive technologies, I hypothesize that we will have better memory of the space, improved cognitive reconstruction of environment, and better understanding of the immediate situation, all of which will lead to better decision making and more efficient navigation. In this work, I present a new approach for analyzing the problem of navigation assistance for pedestrians, which considers both the physical and psychological constraints of users focused on navigation. I address the physical constraint that eyes should remain "on the street" by providing a new visual interface, named Guiding Light, that offers a mixed reality presentation of guidance information in the environment itself, instead of on a screen. We address the psychological constraint that minds should remain engaged with the environment by applying a framework based on mindfulness and mindlessness theory (Langer 1989) in the design of the system. The theory explains how mindsets affect engagement levels and decision-making in daily activities. In addition, this thesis describes an indoor positioning technology that provides relatively high accuracy localization and heading orientation of a user in indoor environments. The innovation not only involved developing a new sensor but also a software system to collect fingerprint maps and tracking location with the fingerprint maps. This new technology opens up a new area in the field to explore other possibilities of using a magnetic field based positioning system.<br>by Jaewoo Chung.<br>Ph.D.
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Sakpere, Wilson Evuarherhe. "A near field communication framework for indoor navigation : design and deployment considerations." Thesis, Cape Peninsula University of Technology, 2015. http://hdl.handle.net/20.500.11838/2290.
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Thesis (MTech (Information Technology))--Cape Peninsula University of Technology, 2015.<br>Navigation systems are known to provide time and location information for easy and accurate navigation in a specified environment. While Global Positioning System (GPS) has recorded a considerable success for navigating outdoors, the absence of GPS indoors has made orientation in an indoor environment challenging. Furthermore, existing technologies and methods of indoor positioning and navigation, such as WLAN, Bluetooth and Infrared, have been complex, inaccurate, expensive and challenging to implement; thereby limiting the usability of these technologies in less developed countries. This limitation of navigation services makes it difficult and time consuming to locate a destination in indoor and closed spaces. Hence, recent works with Near Field Communication (NFC) has kindled interest in positioning and navigation.
While navigating, users in less developed nations face several challenges, such as infrastructure complexity, high-cost solution, inaccuracy and usability. However, this research focuses on providing interventions to alleviate usability challenges, in order to strengthen the overall accuracy and the navigation effectiveness in stringent environments through the experiential manipulation of technical attributes of the positioning and navigation system in indoor environments. Therefore, this study adopted the realist ontology and the positivist epistemological approach. It followed a quantitative and experimental method of empirical enquiry, and software engineering and synthesis research methods. The study entails three implementation processes, namely map generation, positioning framework and navigation service using a prototype mobile navigation application that uses the NFC technology. It used open-source software and hardware engineering tools, instruments and technologies, such as Ubuntu Linux, Android Software Development Kit, Arduino, NFC APIs and PandaBoard. The data was collected and the findings evaluated in three stages: pre-test, experiment and post-test.
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Sain, Mohit. "Portable Monitoring and Navigation Control System for Helping Visually Impaired People." Thesis, Université d'Ottawa / University of Ottawa, 2017. http://hdl.handle.net/10393/36869.
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Visual Aids for the blind people is an important subject. Apparently visually impaired individuals get impeded by certain hurdles in everyday life. This work proposes an indoor navigation system for visually impaired people. In particular, the goal of this study is to develop a robust, independent and portable aid to assist a user to navigate familiar as well as unfamiliar areas. The algorithm uses the data from Microsoft Xbox Kinect 360 which makes a 3D map of the indoor areas and detects the depth and estimates the relative distance and angle to an obstacle/human. To ensure the accuracy, Kinect tool is enabled with a colour camera to capture real-time details of surroundings which are then processed accordingly. Besides, the developed aid makes the user aware of environmental changes through a Bluetooth enabled headphones used as audio output device. The trials were conducted on six blindfolded volunteers who successfully navigated across various locations in the university campus such as classrooms, hallways, and stairs. Moreover, the user could also track a particular person through output generated from processed images. Hence, the work suggests a significant improvement for existing visual aids which may be very helpful in customisation as well as the adaptability of these devices.
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Curtsson, Fanny. "Designing an Augmented Reality Based Navigation Interface for Large Indoor Spaces." Thesis, KTH, Skolan för elektroteknik och datavetenskap (EECS), 2021. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-300377.
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Navigating from one place to another is something we as humans do on an everyday basis, and modern technology has made it easier than ever by providing navigation tools in our mobile devices. In indoor spaces, augmented reality (AR) based navigation interfaces have shown a lot of potential, as it has been proven to increase efficiency and overall usability. However, there is a lack of research investigating how these types of interfaces should be designed to create a good user experience. This study aimed at providing more insight into this by exploring the usability of a mobile AR interface for indoor navigation through the Rapid Iterative Testing and Evaluation (RITE) method. In total, six participants tested the interface in three rounds of user testing and iteration, with two participants taking part in each round. The results showed that the usability increased with each iteration. Findings also reaffirmed the importance of minimizing the amount of information presented in the AR interface, by for example presenting information prior to the AR interface, as well as the value of adding support for occlusion. Moreover, confusion caused by how the virtual objects aligned with the real physical space showed the importance of testing on-site.<br>Att navigera från en plats till en annan är något vi människor gör varenda dag, och modern teknologi har gjort detta enklare än någonsin genom att erbjuda navigationsverktyg i våra mobila enheter. I inomhusmiljöer så har navigationsverktyg som använder förstärkt verklighet (AR) visat mycket potential, då det har visats ökat effektiviteten och den övergripliga användbarheten. Däremot finns det en brist på forskning som undersöker hur dessa typer av gränssnitt ska designas för att skapa en bra användarupplevelse. Denna studie syftade till att ge mer insikt i detta genom att utforska användbarheten av ett mobilt AR-gränssnitt för inomhusnavigering med hjälp av metoden Rapid Iterative Testing and Evaluation (RITE). en iterativ design och utvärderingsmetod. Totalt testade sex deltagare gränssnittet i tre omgångar av användartester, där två deltagare deltog i varje omgång. Resultaten visade att användbarheten ökade med varje iteration. Resultaten bekräftade även vikten av att minimera mängden information som presenteras i AR-gränssnittet, till exempel genom att presentera information innan AR-gränssnittet, samt värdet av att lägga till stöd för ocklusion. Vidare så visade även förvirringen kring hur de virtuella objekten relaterade till det riktiga fysiska utrymmet värdet av att testa på plats.
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Marron, Monteserin Juan Jose. "Multi Sensor System for Pedestrian Tracking and Activity Recognition in Indoor Environments." Scholar Commons, 2014. https://scholarcommons.usf.edu/etd/5068.
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The widespread use of mobile devices and the rise of Global Navigation Satellite Systems (GNSS) have allowed mobile tracking applications to become very popular and valuable in outdoor environments. However, tracking pedestrians in indoor environments with Global Positioning System (GPS)-based schemes is still very challenging given the lack of enough
signals to locate the user. Along with indoor tracking, the ability to recognize pedestrian behavior and activities can lead to considerable growth in location-based applications including
pervasive healthcare, leisure and guide services (such as, museum, airports, stores, etc.), and emergency services, among the most important ones.
This thesis presents a system for pedestrian tracking and activity recognition in indoor environments using exclusively common off-the-shelf sensors embedded in smartphones
(accelerometer, gyroscope, magnetometer and barometer). The proposed system combines the knowledge found in biomechanical patterns of the human body while accomplishing basic activities, such as walking or climbing stairs up and down, along with identifiable signatures that certain indoor locations (such as turns or elevators) introduce on sensing data.
The system was implemented and tested on Android-based mobile phones with a fixed phone position. The system provides accurate step detection and count with an error of 3% in flat
floor motion traces and 3.33% in stairs. The detection of user changes of direction and altitude are performed with 98.88% and 96.66% accuracy, respectively. In addition, the activity recognition module has an accuracy of 95%. The combination of modules leads to a total tracking error of 90.81% in common human motion indoor displacements.
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Mohamadabadi, Kaveh. "Anisotropic Magnetoresistance Magnetometer for inertial navigation systems." Phd thesis, Ecole Polytechnique X, 2013. http://tel.archives-ouvertes.fr/tel-00946970.
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This work addresses the relevant errors of the anisotropic magnetoresistance sensor for inertial navigation systems. The manuscript provides resulting guidelines and solution for using the AMR sensors in a robust and appropriate way relative to the applications. New methods also are proposed to improve the performance and, reduce the power requirements and cost design of the magnetometer. The new compensation method is proposed by developing an optimization algorithm. The necessity of the sensor calibration is shown and the source of the errors and compensating model are investigated. Two novel methods of indoor calibration are proposed and examples of operating systems are presented.
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Li, Qiucheng [Verfasser], Thomas [Akademischer Betreuer] Rauschenbach, Pu [Gutachter] Li, and Rolf [Gutachter] Findeisen. "Development of an adaptive navigation system for indoor mobile handling and manipulation platforms / Qiucheng Li ; Gutachter: Pu Li, Rolf Findeisen ; Betreuer: Thomas Rauschenbach." Ilmenau : TU Ilmenau, 2019. http://d-nb.info/1194173160/34.
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Persson, Lucas, and Sebastian Markström. "Indoor localization of hand-held Shopping Scanners." Thesis, KTH, Data- och elektroteknik, 2017. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-208931.
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This thesis investigates applicable indoor navigation systems for the next generation of hand-held shopping scanners, on behalf of the company Virtual Stores. The thesis research and review applicable indoor localization methods and ways to combine and evaluate received localization data in order to provide accurate navigation without introducing any other worn equipment for a potential user. Prototype navigation systems was proposed, developed and evaluated using a combination of carefully placed radio transmitters that was used to provide radio based localization methods using Bluetooth or UltraWide Band (UWB) and inertial sensors combined with a particle filter. The Bluetooth solution was deemed incapable of providing any accurate localization method while the prototype using a combination of UWB and inertial sensors proved promising solution with below 1m average error under optimal conditions or 2.0m average localization error in a more realistic environment. However, the system requires the surveyed area to provide 3 or more UWB transmitters in the line of sight of the UWB receiver of the user at every location facing any direction to provide accurate localization. The prototype also requires to be scaled up to provide localization to more than 1 radio transmitters at the time before being introduced to the Fast moving consumer goods market.<br>Denna avhandling undersöker tillämpliga inomhusnavigationssystem för nästa generations handhållna shopping terminaler, på uppdrag av företaget Virtual Stores. Avhandlingen undersöker och granskar tillämpliga inomhuslokaliseringsmetoder och sätt att kombinera och utvärdera mottagna lokaliseringsdata för att bistå med ackurat navigering utan att introducera någon ytterligare utrustning för en potentiell användare. Prototypnavigationssystem föreslogs, utvecklades och utvärderades användandes en kombination av väl utplacerade radiosändare användandes Bluetooth eller UltraWide Band (UWB) och tröghetssensorer i kombination med ett partikelfilter. Bluetooth-lösningen ansågs oförmögen att tillhandahålla någon exakt lokalisering medan prototypen som använde en kombination av UWB och tröghetssensorer visade sig vara en lovande lösnings med under 1m genomsnittligt fel under optimala förhållanden eller 2,0m genomsnittligt lokaliseringsfel i mer realistisk miljö. Systemet kräver emellertid att det undersökta området tillhandahåller 3 eller fler UWB-sändare inom synfältet för UWB-mottagaren hos användaren vid varje plats och riktning för att tillhandahålla ackurat lokalisering. Prototypen behöver skalas upp för att kunna bistå med lokalisering till mer än 1 radiomottagare innan den introduceras till detaljhandlen.
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Tsai, Tsung-Chun. "Map compression for a RFID-based two-dimensional indoor navigation system a dissertation submitted to Auckland University of Technology in partial fulfilment of the requirements for the degree of Master of Computer and Information Science (MCIS), 2008." Click here to access this resource online, 2008. http://hdl.handle.net/10292/652.
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Thesis (MCIS - Computer and Information Sciences) -- AUT University, 2008.<br>Includes bibliographical references. Also held in print (ix, 98, xxvi leaves : ill. ; 30 cm. + 1 cd-rom) in the Archive at the City Campus (T 526 TSA)
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Rudol, Piotr. "Increasing Autonomy of Unmanned Aircraft Systems Through the Use of Imaging Sensors." Licentiate thesis, Linköpings universitet, UASTECH – Teknologier för autonoma obemannade flygande farkoster, 2011. http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-71295.
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The range of missions performed by Unmanned Aircraft Systems (UAS) has been steadily growing in the past decades thanks to continued development in several disciplines. The goal of increasing the autonomy of UAS's is widening the range of tasks which can be carried out without, or with minimal, external help. This thesis presents methods for increasing specific aspects of autonomy of UAS's operating both in outdoor and indoor environments where cameras are used as the primary sensors. First, a method for fusing color and thermal images for object detection, geolocation and tracking for UAS's operating primarily outdoors is presented. Specifically, a method for building saliency maps where human body locations are marked as points of interest is described. Such maps can be used in emergency situations to increase the situational awareness of first responders or a robotic system itself. Additionally, the same method is applied to the problem of vehicle tracking. A generated stream of geographical locations of tracked vehicles increases situational awareness by allowing for qualitative reasoning about, for example, vehicles overtaking, entering or leaving crossings. Second, two approaches to the UAS indoor localization problem in the absence of GPS-based positioning are presented. Both use cameras as the main sensors and enable autonomous indoor ight and navigation. The first approach takes advantage of cooperation with a ground robot to provide a UAS with its localization information. The second approach uses marker-based visual pose estimation where all computations are done onboard a small-scale aircraft which additionally increases its autonomy by not relying on external computational power.
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Althaus, Philipp. "Indoor Navigation for Mobile Robots : Control and Representations." Doctoral thesis, KTH, Numerical Analysis and Computer Science, NADA, 2003. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-3644.
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<p>This thesis deals with various aspects of indoor navigationfor mobile robots. For a system that moves around in ahousehold or office environment,two major problems must betackled. First, an appropriate control scheme has to bedesigned in order to navigate the platform. Second, the form ofrepresentations of the environment must be chosen.</p><p>Behaviour based approaches have become the dominantmethodologies for designing control schemes for robotnavigation. One of them is the dynamical systems approach,which is based on the mathematical theory of nonlineardynamics. It provides a sound theoretical framework for bothbehaviour design and behaviour coordination. In the workpresented in this thesis, the approach has been used for thefirst time to construct a navigation system for realistic tasksin large-scale real-world environments. In particular, thecoordination scheme was exploited in order to combinecontinuous sensory signals and discrete events for decisionmaking processes. In addition, this coordination frameworkassures a continuous control signal at all times and permitsthe robot to deal with unexpected events.</p><p>In order to act in the real world, the control system makesuse of representations of the environment. On the one hand,local geometrical representations parameterise the behaviours.On the other hand, context information and a predefined worldmodel enable the coordination scheme to switchbetweensubtasks. These representations constitute symbols, on thebasis of which the system makes decisions. These symbols mustbe anchored in the real world, requiring the capability ofrelating to sensory data. A general framework for theseanchoring processes in hybrid deliberative architectures isproposed. A distinction of anchoring on two different levels ofabstraction reduces the complexity of the problemsignificantly.</p><p>A topological map was chosen as a world model. Through theadvanced behaviour coordination system and a proper choice ofrepresentations,the complexity of this map can be kept at aminimum. This allows the development of simple algorithms forautomatic map acquisition. When the robot is guided through theenvironment, it creates such a map of the area online. Theresulting map is precise enough for subsequent use innavigation.</p><p>In addition, initial studies on navigation in human-robotinteraction tasks are presented. These kinds of tasks posedifferent constraints on a robotic system than, for example,delivery missions. It is shown that the methods developed inthis thesis can easily be applied to interactive navigation.Results show a personal robot maintaining formations with agroup of persons during social interaction.</p><p><b>Keywords:</b>mobile robots, robot navigation, indoornavigation, behaviour based robotics, hybrid deliberativesystems, dynamical systems approach, topological maps, symbolanchoring, autonomous mapping, human-robot interaction</p>
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Shakeel, Amlaan. "Service robot for the visually impaired: Providing navigational assistance using Deep Learning." Miami University / OhioLINK, 2017. http://rave.ohiolink.edu/etdc/view?acc_num=miami1500647716257366.
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Anderson, Abby Hodel A. Scottedward. "Design, testing, and simulation of a low-cost, light-weight, low-g IMU for the navigation of an indoor blimp." Auburn, Ala., 2006. http://repo.lib.auburn.edu/2006%20Spring/master's/ANDERSON_ABBY_43.pdf.
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Paz, Penitú Aarón Anthony, and Torres Eric Rubens Rodrich. "Navegabilidad en centros comerciales de Lima Metropolitana mediante sistemas de posicionamiento Indoor para mejorar la afluencia de público." Bachelor's thesis, Universidad Peruana de Ciencias Aplicadas (UPC), 2019. http://hdl.handle.net/10757/626648.
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El desarrollo económico y la estabilidad general del país en los últimos años, trajo consigo el auge de diversos sectores como el industrial, el minero, el agropecuario, etc. Esto, significó mayor cantidad de puestos de trabajo para la población y mejores ingresos para las familias.
Bajo este contexto era natural que se incrementara la demanda de productos de diversa índole y de servicios, principalmente los de entretenimiento. Esta demanda fue atendida con la construcción de nuevos centros comerciales y la modernización de los pocos ya existentes. Las grandes superficies de consumo han pasado a formar parte del día a día de la sociedad, tanto es así que se puede decir que la gente va al centro comercial a pasear y no a comprar. Para los comerciantes esto es un problema que se resuelve incrementando el número de visitantes que realiza compras en el centro comercial.
Dentro de las diversas tecnologías de posicionamiento y geolocalizaciones que en la actualidad se aplican en distintos ámbitos del quehacer diario como pedir comida a domicilio, pedir servicios de taxi, encontrar la mejor ruta para un destino sin toparse con el tráfico, etc., se encuentran aquellos que permiten navegar dentro de los lugares cerrados, las conocidas como Indoor Positioning Systems (IPS).<br>In the past few years the economic growth and overall stability of the country, brought with it an increase for many industrial sectors, like mining, agriculture and others. This also had an impact on the people in the form of more jobs and better incomes.
Under this context it was only natural that the demand for any product or services increased, mainly the ones relative to the entertainment sector. The respond to this demand was the construction of new malls and the update of the ones already in place. Large spaces for retail purposes are now part of the everyday in a modern society, in such a way the people go to the mall just to spend the day and not for buying goods. For the retailers this is a problem to be solved by increasing the number of visitors to the mall.
Among the many technologies in global positioning and geolocation that has a place in current applications for everyday tasks like food ordering, taxi services, or even finding the best route home avoiding rush hour, there are the ones that allows to navigate inside buildings, these are called Indoor Positioning Systems (IPS).<br>Trabajo de investigaciòn
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Choudhury, Maroof Haider. "A multi-sensor sonar system for indoor range measurement as a navigational aid for the blind." FIU Digital Commons, 2003. http://digitalcommons.fiu.edu/etd/2348.
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This project involved the design, implementation and testing of a multi-directional range measurement system for indoor applications, as an independent sensing module for a navigational tool for blind individuals. The system provides real-time distance measurements to the closest surrounding obstacles in six radial directions, and a North direction indication. Custom hardware and software were developed to interface six ultrasonic ranging modules and a digital compass to a PIC16F77 microcontroller. A multi-directional range measuring technique appropriate for this setup was identified experimentally. The final product of this project is a navigational instrument integrating the custom hardware and software, a portable PC, six ultrasonic range sensors and a digital compass. The thesis provides details about the components selected for the system, the design philosophy, the system hardware and software, and the test procedures followed to evaluate the performance of the overall system.
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Andreotti, Marcus Talcir. "Global navigation satellite systems in urban and indoor environments : a new tool to visualize, understand and use multipath." Thesis, University of Nottingham, 2006. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.438521.
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Botko, Ondřej. "Komunikační systém pro nevidomé - pevná část." Master's thesis, Vysoké učení technické v Brně. Fakulta elektrotechniky a komunikačních technologií, 2008. http://www.nusl.cz/ntk/nusl-217275.
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The thesis deals with problems of navigation blind in buildings, where is not possibility navigation by GPS (Global Positioning System). This thesis contain resolution through the use of communication units, placed in floor of buildings. This comunication units, equipped with receiver and transmitter, can give direction for blind by send own identification to transceiver in speciál stick (the thesis does not contain solving of the stick), which can information blind of position. Two comunication unit solution are available, that differs by using component part. The main difference is in use control unit of circuit. First circuit use as control unit ATAR862-3 (microprocessor and transmitter in one case) and the second one use microprocessor ATmega 8L. Both component made by Atmel corporation. Circuit with ATmega 8L is more exacting on curent consumption, but solving this problem is available and communication unit has low pretensions and long life. The part of thesis is program, which solving communication protocol for no-problem communication between unit in floor and special stick.
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Björk, Hanna, and Gustav Johnsson. "Navigation i komplexa miljöer med hjälp av digitala tjänster och IoT." Thesis, Luleå tekniska universitet, Institutionen för system- och rymdteknik, 2019. http://urn.kb.se/resolve?urn=urn:nbn:se:ltu:diva-74727.
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Forskning och implementering av teknik och tjänster för navigering utomhus, såsom GPS, har kommit långt om man jämför med de alternativen som i dagsläget erbjuds för motparten för navigering inomhus. Användarvänliga wayfinding-lösningar för inomhusbruk är ett område som fortfarande har ett stort behov av mer forskning inriktad på rekommendationer och genomförbarhet av god praxis. Ett av våra mål under forskningsprocessen syftade till att undersöka och identifiera de mest lämpliga sätten att förmedla wayfinding-lösningar till slutanvändarna i olika situationer. För att vi skulle kunna undersöka denna uppgift använde vi oss av en benchmarking-process. Processen utfördes på ett urval av tjänster som erbjuder olika alternativ för wayfinding. Målet med denna process har varit att utreda vilka olika alternativ som finns tillgängliga i dagsläget, vad dessa tjänster erbjuder användarna i form av wayfinding stöd, och var potentiella problem kan uppstå utifrån användarens kognitiva beteende. Processen har även lyft fram områden som rör god praxis för wayfinding och de teknologiska begränsningar som tillhör valet av mobila enheter eller andra digitala plattformar. Vår forskning har visat att det finns flera olika lösningsalternativ som är tillgängliga för implementation i dagsläget. Dock har alla de alternativ som erbjuds sina egna specifika styrkor, svagheter och begränsningar kopplat till både den teknik som används, såväl som användbarheten för slutanvändarna. Det slutliga resultatet av vår forskning är en sammanställning av kvalitativa data och rekommendationer som hanterar både digitala och användar-fokuserade begränsningar som är sammanlänkade till vårt specifika fall. Det resultat som lyfts fram i vår forskning bör dock inte limiteras till endast vårt specifika fall. Istället bör det snarare ses som en referenspunkt för organisationer eller utvecklare som har ett intresse av att implementera wayfinding-lösningar, med syfte att hjälpa sina besökare för att navigera inomhus, eller för framtida forskning inom inomhusnavigering och wayfinding.<br>Research and implementation of use when it comes to outdoor navigation and GPS systems have come quite far compared to their indoor alternatives. Pedestrian friendly wayfinding solutions for indoor use are still lagging behind, and even more so when it comes to recommendations on implementation of best practice. One of our goals during the research process was aimed at finding the most adequate ways of conveying wayfinding solutions to end-users in different situations. In order to perform this task, we used a benchmarking process on a selection of wayfinding alternatives. The goal of this process have been focused on finding out which solutions are available at this moment, what they offer the users in terms of wayfinding support, and where issues might arise based on cognitive user theory, wayfinding best practice and technological limitations concerning mobile devices or different digital platforms. During our research we found that there are several different solutions that are available for implementation, but that they all come with their own specific strengths and limitations on both the technological side and for the end-users concerning usability. The result of our research has been a collection of qualitative data, and recommendations concerning digital and user limitations connected to our specific case. However, the result of this research should not be limited to our case alone, but rather as a reference point for organizations or developers that wish to implement indoor solutions for users, or for future research within the area of indoor navigation and wayfinding.
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SAVARESE, FRANCESCO. "Data Fusion Methods and Algorithms in the Context of Autonomous Systems - A path planning algorithms analysis and optimization exploiting fused data." Doctoral thesis, Politecnico di Torino, 2019. http://hdl.handle.net/11583/2752655.
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Nguyen, Dinh-Van. "Réseaux de capteurs sans-fil pour la cartographie à l'intérieur et la localisation précise servant la navigation à basse vitesse dans les villes intelligentes." Thesis, Paris Sciences et Lettres (ComUE), 2018. http://www.theses.fr/2018PSLEM029/document.
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Avec la demande croissante d'espace urbain, de plus en plus de parkings à plusieurs étages sont nécessaires. Bien que ces parkings contribuent à une utilisation plus efficace de l'espace urbain, ils introduisent également un nouveau problème. Les rapports suggèrent environ 70 millions d'heures de recherche d'emplacements de stationnement chaque année, soit une perte équivalente de 700 millions d'euros pour la seule France. En outre, les utilisations des parkings vont au-delà de leurs objectifs initiaux. Des fonctionnalités exigeantes telles que le chargeur électrique, la réservation en ligne de places de stationnement, le guidage dynamique ou le paiement mobile, etc. transforment un parking en un environnement intelligent et compétitif. Une solution à ce problème consiste à développer un système de navigation autonome pour les véhicules intelligents en situation de parking. La thèse identifiera une de ces sous-tâches, à savoir la localisation dans des environnements non autorisés par GPS. Cette thèse présentera une nouvelle méthode pour résoudre le problème indiqué tout en maintenant le système en respectant quatre critères: disponibilité, évolutivité, universalité et précision. Il y a deux étapes principales: (1) une solution permettant de reproduire le comportement du GPS pour un environnement refusé par GPS, et (2) un cadre permettant la fusion de systèmes de type GPS avec d'autres méthodes de localisation pour obtenir une précision de localisation élevée. Tout d'abord, un système de localisation Wi-Fi Fingerprinting est utilisé. Une approche utilisant un réseau de neurones d'ensemble sur une base de données d'empreintes hybrides Wi-Fi est proposée dans cette thèse. Des expériences menées sur une durée d'un an montrent que ce système est capable de localiser des véhicules présentant une erreur moyenne de 2,25 m dans le repère global (WGS84). Deuxièmement, une solution de localisation complète doit être une fusion de plusieurs techniques. Cela permet aux niveaux de localisation global et local de fonctionner ensemble. Parallèlement, la redondance dans le système améliore la précision et la fiabilité. Dans cette thèse, un cadre de fusion flexible pour plusieurs capteurs de localisation est proposé. Ce cadre de fusion traitera non seulement de l'environnement refusé par le GPS, mais pourrait également être utilisé dans l'environnement assisté par GPS et assurer une transition en douceur entre les deux zones. Pour accomplir cette tâche exigeante, un filtre à particules modèle de mélange gaussien est développé. Alors que le modèle de mouvement de ce filtre à particules intègre des données provenant de l'IMU (unité de mesure inertielle) ou du laser-SLAM, le modèle de correction est un modèle de mélange gaussien de plusieurs observations obtenues à partir du système de localisation d'empreintes digitales Wi-Fi. Avec deux véhicules intelligents (une Cybercar et une Citroen C1), 64 expériences ont été réalisées pour valider le cadre. Une erreur de localisation moyenne de 0,5 m est obtenue dans un cadre de coordonnées global. Comparez avec d'autres solutions avec une erreur de localisation moyenne de 0,2 m dans les cadres de coordonnées locales; Cette solution proposée présente également des avantages en termes d'évolutivité, de disponibilité et d'universalité<br>With the increasing demand for urban space, more and more multistory carparks are needed. Although these carparks help to utilize urban space more efficient, they also introduce a new problem. Reports suggest approximately 70 million hours of parking slot searching each year, equivalently 700 million euros loss for France alone. In addition, carparks uses are exceeding their original purposes. Demanding features such as electric charger, online booking of parking spaces, dynamic guidance or mobile payment etc. turn a carpark into a competitive smart environment. One solution to this problem is to develop an autonomous navigation system for intelligent vehicles in the carpark situation. The thesis will identify one of these sub-tasks namely localization in GPS-denied environments. This thesis will present a novel method to solve the indicated problem while keeping the system follows four criteria: availability, scalability, universality and accuracy. There are two main steps: (1) a solution to replicate the GPS behaviour for the GPS-denied environment, and (2) a framework that allows the fusion of GPS-like systems with other localization methods to achieve a high localization accuracy. First, a Wi-Fi Fingerprinting localization system is employed. An approach using an ensemble neural network on a hybrid Wi-Fi fingerprinting database is proposed in this thesis. Experiments in a year-long duration show that this system is capable of localizing vehicles with 2.25m of mean error in the global coordinate frame (WGS84). Second, a complete localization solution must be a fusion of multiple techniques. This allows global as well as local levels of localization to function together. At the same time, having redundancy in the system boosts accuracy and reliability. In this thesis, a flexible fusion framework for multiple localization sensors is proposed. This fusion framework will not only deal with the GPS-denied environment but could be potentially used in the GPS-aided environment and provide a smooth transition between the two areas. To accomplish this demanding task, a Gaussian Mixture Model Particle Filter is developed. While the motion model of this particle filter incorporates data from the IMU (Inertial Measurement Unit) or laser-SLAM, the correction model is a Gaussian mixture model of multiple observations obtained from the Wi-Fi fingerprinting localization system. With two intelligent vehicles (a Cybercar and a Citroen C1 car), 64 experiments were carried out to validate the framework. A mean localization error of 0.5m is achieved in a global coordinate frame. Compare to other solutions with 0.2m of mean localization error in local coordinate frames; this proposed solution has advantages in terms of scalability, availability and universality as well
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Ayhan, Murat. "A Model-based Guidance And Vulnerability Assessment Approach For Facilities Under The Threat Of Multi-hazard Emergencies." Master's thesis, METU, 2012. http://etd.lib.metu.edu.tr/upload/12614534/index.pdf.
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Disasters (e.g. earthquakes) and emergencies (e.g. fire) threaten the safety of occupants in the buildings and cause injuries and mortalities. These harmful effects are even more dangerous when secondary hazards (e.g. post-earthquake fires) emerge and it is commonly observed that the disasters/emergencies trigger secondary hazards.An effective indoor emergency guidance and navigation approach for occupants and first responders can decrease the number of injuries and mortalities during building emergencies by improving the evacuation process and response operations. For this reason, this research will propose a model-based guidance and vulnerability assessment approach for facilities that are under the threat of multi-hazard emergencies. The approach can be used to guide occupants from the facility affected by disasters/emergencies to safer zones and to direct the first responders by supplying them necessary building related information such as identified vulnerable locations in the indoor environments. An integrated utilization of Building Information Modeling tools, sensors, shortest path algorithms, and vulnerability assessment algorithms is proposed for the system in this research.
The research steps of this thesis include (1) determination of requirements of an indoor navigation during emergency response and disaster management,(2) review, comparison, and evaluation of shortest path algorithms from an emergency response and disaster management point of view, (3) proposing a vulnerability assessment approach, and (4) proposing a real-time indoor emergency guidance and navigation system framework for buildings under the threat of multi-hazard emergencies. The findings of the research can be used in future studies on emergency response and disaster management domains.
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Wu, Chi-Jui, and 鄔啓瑞. "Waypoint-based Indoor Navigation System." Thesis, 2018. http://ndltd.ncl.edu.tw/handle/2873qv.
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碩士<br>國立清華大學<br>資訊工程學系所<br>107<br>Waypoint-based indoor navigation is a practical solution to indoor navigation. The navigation system aims to be deployed at a variety of different buildings, which are usually full of people or have complicated interior structure and layout where people can easily get lost or have requests for indoor navigation services.
The navigation system is composed of an indoor positioning system, navigation graph(s) and waypoint-based navigator(s). The indoor positioning system used in the system is called Building/environment Data-Based Indoor Positioning Service (BeDIPS) which uses Location Beacons (Lbeacons)to broadcast location data to their nearby devices in order to inform the users their locations in an indoor environment. The location data represents a location in an indoor space that modeled by a hierarchical graph called navigation graph. The navigation graph of a building can be downloaded to the waypoint-based navigator, providing the essential routing data and positioning information.
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Cheng, Kun-Chieh, and 鄭昆玠. "Location-Aware Indoor Emergency Navigation System." Thesis, 2008. http://ndltd.ncl.edu.tw/handle/19719895307214937305.
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碩士<br>國立屏東商業技術學院<br>資訊管理系<br>97<br>People who are in the disaster do not have any idea of the exact position in the emergency environment. When the emergency events occurs, they go blindly or so nervous too calm down. They can only follow people’s running or rely on their weak memory of this indoor environment to search the exit. It maybe waste much time and couldn’t search the exit correctly right away.
Abstract-In this paper, a location-aware indoor emergency navigation system is proposed. When any user carrying a mobile device provided with RFID reader enters an indoor environment that is installed in advance with RFID tags of the navigation system, the mobile device will automatically detect the system and download a map of escaping routes onto the device beforehand. When emergency events occur, the mobile device could immediately identify users’ locations by reading RFID tags and establish escaping routes. People could safely avoid hazardous areas while escaping from emergency and disasters like fire and earthquakes through the guidance of the mobile device. With the aid of this system, personal safety against accidents will be better ensured to achieve the objective of minimal casualties.
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WANG, SHIH-CHIA, and 王士嘉. "A Waypoint Based Indoor Navigation System." Thesis, 2019. http://ndltd.ncl.edu.tw/handle/dqm8rp.
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碩士<br>國立雲林科技大學<br>資訊工程系<br>107<br>Nowadays, indoor navigation technology can be used in large buildings to guide people to their destinations and improve the efficiency. Significant efforts have been made to develop indoor navigation system (INS) in the past years. However, due to the challenges of accuracy, standardization and maintenance, it is still rare that INSs have been deployed in large buildings for daily operation. In this work, we design a way-point based indoor navigator (WPIN), also a mobile app, which can give users a direction indicator, such as turn left, turn right and go straight, at each intersection along the route to the destination. WPIN utilizes directional Bluetooth beacons, named Lbeacon, deployed at each waypoint to get the coordinate of current position. In order to evaluate the practicability of WPIN, we conducted a field trial in National Taiwan University Hospital Yunlin Branch. More than 75 Lbeacons were deployed in outpatient areas, over 2000 m2, that cover two separate buildings and floors. Also, we invited near 140 volunteers and patients to use WPIN in the daytime. Our results show that WPIN can achieve 3 to 5 meter position accuracy even in a crowded space. In addition, the average satisfaction score on a 5-point Likert scale was over 4 points.
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Lin, Yuhsi, and 林雨希. "A Navigation System with Extensible Indoor Maps." Thesis, 2014. http://ndltd.ncl.edu.tw/handle/19699980888651975686.
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碩士<br>國立臺灣海洋大學<br>資訊工程學系<br>102<br>Because the current indoor navigation map data are very difficult to obtain and rely on extremely precise CAD files or other file formats, there is little advance of indoor map and indoor navigation. However, common users do not need that kind of precise information as engineers do. On the other hand, indoor and outdoor navigations have been rarely converged [1], thus limiting the development of the navigation system. This thesis presents the navigation system which uses the basic data to simulate and construct indoor map. The system not only integrates the Google Map as outdoor map, but also allow users to construct the indoor map. It is useful for development by social network communities[2], and also provides the cross-platform capabilities by the commonality of web world.
This thesis presents an integration of indoor and outdoor navigation system map, and deals with incompatible issues of different platforms. The navigation system simulates the indoor map to avoid user's predicament of obtaining professional interior plan; while the outdoor map will be Google Map satellite aerial map, to deal with the difficult problem of obtaining outdoor map. Meanwhile to face the rise of network platforms, like HTML5, and to solve the problem of compatibility of different platforms, we will use the standard W3C (World Wide Web Consortium) formulated to achieve the requirement of cross-platform. To enable more enthusiastic users to participate in the system development, we will provide an interface of adding map of user to facilitate the developments in relevant communities.
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Zung-Ying, Lin, and 林宗穎. "Indoor Navigation System Using ZigBee Location Profile." Thesis, 2011. http://ndltd.ncl.edu.tw/handle/82154882454748916851.
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碩士<br>中華科技大學<br>飛機系統工程研究所<br>99<br>We proposed an indoor navigation solution to substitute using ZigBee location engine module for using GPS receiver, due to GPS often cannot receive location signals in indoor or basement of buildings. We designed guidance and robot’s driver programs based on location data through ZigBee location engine by RSSI (Received Signal Strength Indicator) method and vector guidance algorithm. While undertaking indoor navigation practicing, we built a measuring, design platform of navigation function with the relevant interfaces and programs.
keywords：ZigBee，
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Le, Hoang-Long, and 黎黃龍. "Infrastructureless Pedestrian Indoor Navigation System on Smartphones." Thesis, 2015. http://ndltd.ncl.edu.tw/handle/989c27.
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碩士<br>國立虎尾科技大學<br>資訊工程研究所<br>103<br>The mission of tracking a pedestrian becomes a key component for many location aware application in modern smartphone including navigation for the purpose of pervasive healthcare, hospital, shopping mall and museum guides. In contrast to outdoor navigation system mainly replying on GPS which gives satisfactory positioning performance in many circumstances encountered by pedestrians, indoor navigation system suffers from poor accuracy problem because of the absence of GPS signal or attenuation, reflection and diffraction effect from indoor building and appliances. Many indoor navigation prototypes have been implemented over the last years. However, most of them rely on external devices, which have the advantage to be accurate, but they are costly and require complex setup in order to work appropriately. In this thesis, we investigate and present an effective solution which rely on Pedestrian Dead Reckoning and Map Matching algorithm for infrastructureless indoor pedestrian navigation using smartphone equipped with low-cost built-in sensors only.
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Chen, Yuon-Hao, and 陳勇豪. "Indoor Navigation System Design of a Mobile Robot." Thesis, 1998. http://ndltd.ncl.edu.tw/handle/19382513986441272618.
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碩士<br>國立交通大學<br>電機與控制工程學系<br>86<br>An indoor navigation system of a mobile robot has been
developed. In this system we can make a simple path-planning
based-on the natural landmark──lamps on the ceiling . A fuzzy
controller has been designed to perform the lamp-tracking task
in order to make the mobile robot to follow the pre-defined
path. The mobile robot will make fast local path-planning using
a hueristic clustering network to prevent from collision when
unexpected obstacles are presented on its pre-defined path. A
fuzzy fusion agency
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Liu, Shih-Kuan, and 劉世寬. "An Indoor Robot Navigation System Using Sparse ImageWaypoints." Thesis, 2011. http://ndltd.ncl.edu.tw/handle/q5hys3.
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碩士<br>國立臺灣科技大學<br>資訊工程系<br>99<br>A prototype of indoor service robot system using sparse image waypoints to navigate is developed. Upon deployment, the robot visually learns the work environment by traversing along the topology of the environment and automatically computing missing waypoints between service locations. Five types of reference images are used by the robot. While approaching a service target, the robot adopts a fast motion mode when traveling between intermediate waypoints, then switch to accurate motion mode when it is close to the target. Also an alternative navigation approach is proposed which pilots the robot back to the home position by an modified log-polar matching method for a discernible feature environment. The approach reserves processing time for the pre-training phase and reduces the size of the reference image database. By applying the fast mode to pass intermediate waypoints, the navigation time is shortened about 19 percent compared with the previous work of Fu et al. With the reference images generate by the proposed method and the fast navigation mode, a 160 meter navigation route can be finished in about 11 minutes with tolerable errors.
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Hsiao, Chao-Chih, and 蕭兆志. "Indoor Positioning and Navigation System of Powered Wheelchair." Thesis, 2007. http://ndltd.ncl.edu.tw/handle/40090151967629465092.
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碩士<br>國立臺灣大學<br>電機工程學研究所<br>95<br>This study attempts to design an indoor positioning system by 5 active 433 MHz RFID tags, and a reader in the powered wheelchair, to identify the position of the electric powered wheelchair (EPW) locally. The tags was distributed on the exits of elevator in the 2nd and 3rd floors, the outside of the doors at Labs 341, 343, 345,and 349 in the building (#2) of the Department of Electrical Engineering, National Taiwan University. The results were presented the related amplitude of the RFID signals from the 5 active tags shown a different magnitudes which can be characterized to identify the position of EPW stably. The other method attempts to enlarge the space of detection by the same 5 tags. Through the K-means clustering, the detecting space can be clustered into several adjoining regions. Therefore, this study supports the possibility of the 3-D indoor RFID positioning and navigation.
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Yao, Kai, and 姚凱. "Indoor Navigation System of Mobile Robot Based on Cricket Location System." Thesis, 2009. http://ndltd.ncl.edu.tw/handle/97127614791696703482.
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碩士<br>國立臺北教育大學<br>資訊科學系碩士班<br>97<br>The purpose of the thesis is to comprehend the indoor location system, improve the indoor navigation system, and then combine with mobile robot to navigate robot more accurately. In this study, it has been studied that indoor location system is the best to locate robot accurately. “The Cricket Location System” can locate accurately without any reference node which communicated to each other and any centralized database. It also can setup the coordinates of reference node automatically. Several methods were used for the purpose. More specifically, we tried three difference navigation algorithms to guide the robot. It was shown that the last one algorithm which had minimum error and could guide the robot accurately and quickly. We conclude that we can use indoor location system to navigate a mobile robot accurately. It’s suggested that the navigation system be still improved by adding other
sensors.
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Li, Guan-Ying, and 李冠穎. "Using PDR and iBeacon Technologies for Indoor Navigation System." Thesis, 2016. http://ndltd.ncl.edu.tw/handle/e4g4fv.
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碩士<br>淡江大學<br>資訊工程學系碩士班<br>104<br>In recently years, location-based services and applications are discussed to be able to provide more convenient lives for human beings. Among those numerous services and applications, a key function is to navigate users to the places that they wish to go, e.g., to navigate a housewife from her house to a shopping mall, to navigate a tourist to the check-in counter in an airport, or to navigate a participant to reach a meeting room in a conference center. When navigating users, a popular technology is to utilize global positioning systems (GPSs). But, GPSs are not suitable for providing indoor navigation services because that the signals from satellites will be shielded by buildings, and thus the localization results will be imprecise. We proposed a novel system which rely on 9-axis sensor. This system use PDR technology to locate the position of users and their path. With the path of each user, the system can calculate the indoor space. However, the indoor environment exists lots of interference. And the path of user was incorrect. For these interference, we use iBeacon to correct them.
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Lee, Ching-Chang, and 李景昌. "Anti-Obstacle Indoor Navigation System Based on ZigBee Localization." Thesis, 2012. http://ndltd.ncl.edu.tw/handle/91777627494516506000.
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碩士<br>中華科技大學<br>飛機系統工程研究所<br>100<br>We proposed an indoor navigation solution to substitute using ZigBee location engine modules deployment for using GPS receiver, due to GPS often cannot receive location signals in indoor or basement of buildings. We designed guidance and robot’s driver programs based on location data through ZigBee location engine by RSSI (Received Signal Strength Indicator) method and vector guidance algorithm. During robot’s guidance path, it often faced obstacles so that we added obstacle detectors coincidence with path adjustment program to guide robot approaching to destination correctly. While undertaking indoor navigation practicing, we built a measuring, design platform of indoor navigation system.
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Jang, Bo-Shiang, and 張博翔. "The establishment of the navigation machine indoor positioning system." Thesis, 2013. http://ndltd.ncl.edu.tw/handle/18623018322816507964.
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碩士<br>吳鳳科技大學<br>光機電暨材料研究所<br>101<br>In this research, we use a two wheels differential vehicle as the restaurant guide service robot’s carrier. Equipped with SICK laser positioning system and Star-Gazer indoor positioning system on the robot, the restaurant robot can be precisely positioned. By using the route planning system to calculate the shortest path, the robot marches efficiently. In order to detect obstacles, the robot is mounted at the bottom with the multiple sensors including a laser range finder as the based obstacle detection of distance and a reflective infrared sensor as the closer obstacle detection. Therefore safety is secured when the robot is moving on the road.
Path error measurements are conducted using different positioning systems. Path error measurements are implemented under three experimental conditions: First, the robot is eguipped with SICK laser positioning system. Secoudly, the robot is guided using Star-Gazer indoor positioning system. Third,the robot is without any positioning system. To evaluate the stability of the robot, it is tested by moving the two wheels differential mobile platform moving along a straight path, a circular path and a square path. It can be found from results that when the robot moves in the higher speed, path error is greater. And traveling further away accumulateds greater error. In practice, the control software is written with the Visual Basic 6.0. We can send control instructions via RS232 interface to the motor drive. Then the motor drive controls motors accordingly to move the robot along the planned path.
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Chang, Chi-hua, and 張芝華. "Development of an Indoor Navigation System Using NFC Technology." Thesis, 2011. http://ndltd.ncl.edu.tw/handle/06125789292182990413.
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碩士<br>國立臺灣師範大學<br>資訊工程研究所<br>100<br>In recent years, with the growing popularity of mobile communication, the mobile location technologies are widely used. However, because of the RF signal availability, GPS is not suitable for indoor localization. Now the most of indoor navigation system applied the sensor network that constructed by Wi-Fi, Bluetooth, or RFID to location, but the effect of these systems are restricted by the physical characteristics and the cost of system. Per the rise of NFC technology which is combine with the advantage of RFID and its low cost and the mobile devices which support NFC come out one after another, the range of application are more widely. According to above, it become an importance issue that how to provide user a portable and convenience indoor navigation system.
In this thesis, we develop a navigation platform which applied NFC technology to orientate in an indoor environment and work out the route to provide useful and accurate information. By Map Studio production of indoor floor plan, combined with the near-field communications technology to quickly read the label features in line with the advantages of positioning accuracy and cost-effective to establish a mobile device quick access to navigation information services. By this system can immediately access to the indoor map information and fast and accurate positioning like as outdoor electronic map service that select the destination, then give the user the best personal navigation services.
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林宗翰. "Indoor navigation system for the visually impaired using RFID." Thesis, 2011. http://ndltd.ncl.edu.tw/handle/15258150850684603009.
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碩士<br>國立臺灣師範大學<br>機電科技研究所<br>100<br>The main purpose of research is to assist the visually impaired who are not familiar with environment, it would cause somebody to be confused because of losing direction. We set RFID sensor which can detect directions and the position to the white cane, and utilize the path-planning algorithm to this system. The method of research is to provide the visually impaired to find the position and the orientation, and give them the function of navigation.
Previous studies use ultrasonic sensor to detect the distance between the walker and the obstacle or to direct the route through the guidance of robots. However, the visually impaired cannot get enough freedoms from it. Moreover, the cost of the development of the robot will increase. With respect to these concerns, we apply the most popular and mature technique—RFID to the guide cane sensor, hoping to give more freedoms to the visually impaired in indoor environment. The study is to combine the RFID reader with the cane as indoor positioning device. Each RFID tag spreading elaborately in indoor floor has one specific verification number. Once the RFID guide cane touches the electronic tag, the location of the visually impaired can be identified. If the visually impaired lost his way, the direction-detect function will get a RF signal. Then, the signal will feed back to main server. The main server will inform the visually impaired via the voice system of the blue tooth device. Besides, the visually impaired can use path-planning device with synergy of Dijkstra’s algorithm that helps the visually impaired to find the shortest path.
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Wu, Cheng-You, and 吳承祐. "Multi-floor Indoor Tracking with Inertial Navigation System and Global Positioning System." Thesis, 2016. http://ndltd.ncl.edu.tw/handle/21048880664542781956.
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碩士<br>健行科技大學<br>資訊工程系碩士班<br>104<br>Currently, most of indoor positioning technologies require to deploy sensors for indoor positioning. However, most of monuments can’t permit to deploy sensors.
In this thesis, we developed a geomagnetic integrate with inertial navigation and GPS system to achieve indoor tracking mechanism.
The advantages of using our proposed system include: (1) not need to draw a building plan (2) not need to deploy any sensor or device (3) use of the gyroscope with magnetic sensors on mobile devices will be able to correct routing path and achieve interior cruise (4) the system includes elevation information can be to judge different floors of a building.
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LIN, PO-JU, and 林伯儒. "An Adaptive Mobile Hospital Indoor Navigation System by Using Beacon." Thesis, 2017. http://ndltd.ncl.edu.tw/handle/x3fr83.
Full textAbstract:
碩士<br>東海大學<br>資訊管理學系<br>105<br>Nowadays medical technologies improve rapidly. Many kind of diseases can be detected through different ways, In order to perform a better physical examination. The hospitals keep improving their medical hardware. But some examinations required specific order to run the whole processes. For example: before performing a Magnetic Resonance Imaging(MRI), First the patient must finish the blood test, after all check is clear, then the examination can go on. After the examination, the doctor needs to explain to the patient about their situation and precaution after specific examination and it takes quite a while. Although Many hospitals got their own medical App for waiting check, but it won’t show the information about the passed number and no reported number. This might cause the patient come to the hospital too early and become a medical violence. Also many hospitals have several different buildings. The patients or their family will have a hard time to find the correct one.
This project is aimed to design an App which can not only help the users be updated about the progress of the examinations they are receiving but also assist them in arriving at the consulting room precisely. By developing the UriBeacon device, the App will be able to locate the indoor location of the users with Triangulation method. All of the done and undone tests will be listed for users to check, and the information of each test will also be shown. With the help of the indoor guiding function, the users can be examined in the order which his doctor has scheduled for him without being confused.
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Chen, Po-Cheng, and 陳柏丞. "A Bluetooth-less Aided Indoor Inertial Navigation System for Vehicle." Thesis, 2014. http://ndltd.ncl.edu.tw/handle/70106788515459591567.
Full textAbstract:
碩士<br>國立臺北大學<br>通訊工程研究所<br>102<br>Location-based services have become a key service for smartphone applications. With the help of indoor positioning, user can obtain their accurate position by using the service. In recent years, more emphasizes on government policies to promote green energy. As a result, low energy material has become the top consideration for developing devices in technology. This thesis is focused on the application of "indoor positioning" of the study, for improving the range and accuracy of indoor positioning. This thesis is used of mobile devices acceleration sensor, proposed inertial positioning algorithm to determine the rotation of triaxial accelerometer and different mobile devices to improve positioning that can inform user's current location of the vehicle immediately. In addition, the existing parking lot is designed a less Bluetooth device to installed. By adding Bluetooth hardware, the existing parking systems and related products into the commercial systems to use, improving indoor services, shorting the time plays a key role. Objective is to seek a breakthrough change in the indoor positioning applications. Through more professional information, equipment and technical support integration provide users can have more convenient services.
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Ho, Yiyun, and 何依蘊. "3D Augmented Reality Mobile Navigation System Supporting Indoor Positioning Function." Thesis, 2012. http://ndltd.ncl.edu.tw/handle/21175337267022044469.
Full textAbstract:
碩士<br>真理大學<br>資訊工程學系碩士班<br>100<br>“Oxford College,” well-known as “the earliest edification institution in northern Taiwan,” was planned by Rev. George Leslie Mackay. It is a typical Chinese and Western style architecture with rich historical and cultural content, and now is a Class 2 national monument. This paper took “Oxford College” as an example to develop a 3D augmented reality mobile navigation system that supports the function of indoor positioning. This system collected the historical data to develop the 3D models according to the ratio of actual objectives, and construct the 3D external and internal structures of Oxford College of the past and present. Moreover, this system combined RFID positioning function with the technology of markerless augmented reality to active-detect the location of visitors and to further instantaneously present 3D and multimedia navigation information on mobile devices.
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Shi, Quan. "CROWDSOURCING BASED MICRO NAVIGATION SYSTEM FOR VISUALLY IMPAIRED." 2018. https://scholarworks.umass.edu/masters_theses_2/716.
Full textAbstract:
Mobility and safety are primary concerns for blind and visually impaired (BVI) users when navigating in unfamiliar environments. Typically, a sighted person can locate a place of interest if they are provided guidance while approaching within a few meters of the location. However, this resolution of guidance is often insufficient for blind travelers. In this thesis, we propose a crowdsourcing based micro navigation system for BVI users in both indoor and outdoor environments. To achieve this goal, our system includes three parts: crowdsourcing reports generated by volunteers using the volunteer application, landmarks validation performed by the system administrator using the admin application, and the BVI user navigation obtained through the BVI user application. In addition, we provide accessible audio navigation for indoor and outdoor environments required to deliver real time step by step landmark information to BVI users.
Crowdsourcing is enabled by the contribution of many volunteers which use the proposed volunteer application to report specific landmarks in the environment including their location, description and surrounding landmarks. These reports which are uploaded to the server database, are validated by the admin application which updates the server database and deploy BLE tags for indoor environment. The BVI user application localizes users by GPS outdoors and BLE proximity technology indoors. Using the real-time location of users and the landmark node graph we built from updated server database, this application provides the shortest route to the destination and real time “micro-navigation” information describing how to get to the next landmark’s location with corresponding distance & orientation. This information is used ix to make users well aware of where they are, and guide users to their chosen destination within a cane’s distance.
This application will improve the confidence and safety of BVI users by enabling them to explore and get navigation in both indoor and outdoor environments.
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Shih, Tai-ching, and 施岱青. "Use of RFID for indoor robot navigation and obstacle avoidance system." Thesis, 2010. http://ndltd.ncl.edu.tw/handle/968x9g.
Full textAbstract:
碩士<br>國立臺北科技大學<br>機電整合研究所<br>98<br>This paper proposes an efficient method for localization and pose estimation for mobile robot navigation using passive radio-frequency identification (RFID). We assume that the robotis able to identify IC tags and measure the robot’s pose based on Received Signal Strength Indication (RSSI) and IC tags on the ground. However, there arises the problem of uncertainty of location due to the nature of the antenna and IC tags. In other words, an error is always present which is relative to the sensing area of the antenna. Many researches have used external sensors in order to reduce the location errors, with few researches presented involving purely RFID driven systems. Our proposed algorithm that uses only passive RFID is able to estimate the robot’s location and orientation more precisely by using function that RSSI into the distance and The IC tag affixed to Triangle manner on the ground The experimental results show that the proposed method effectively estimates both the location and the pose of a mobile robot during navigation.
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Chen, Rwei-Liang, and 陳瑞良. "A Computer Vision-Based Navigation System of Indoor Autonomous Land Vehicles." Thesis, 1997. http://ndltd.ncl.edu.tw/handle/33893536175772286858.
Full textAbstract:
碩士<br>國立台灣工業技術學院<br>電機工程技術研究所<br>85<br>This thesis presents a computer vision-based navigation
system for indoorautonomous land vehicles (ALVs) by combining
dynamic image processingtechniques and humanized steering
control strategies. A major advantage of thevisual navigation
method is tthe fact that only symbolic and no
geometricinformation are required for path specification. A
dynamic thresholding approach using the characteristic of
feature linesis first proposed to avoid the effect of lightness
and acquires the mostsuitable threshold values for contour
segmentation. Secondly, a fast dynamicHough transform algorithm
is modified to improve the efficiency of lineapproximation,which
only requires integer operations and the amount ofcomputations
is linearly increased with the number of feature points.In
addition, an expandable knowledge-based parser is implemented by
asyntactic approach for the recognition of branches and
crossings of hallways.Moreover, Both geometrical perspective and
flat-earth models are adopted toachieve the distance estimation
of the objects in front of the ALV. Besides, with our steering
control method, the initial position andorientation of the ALV
need not be known exactly. It incorporates the personsteering
techniques together with feature lines information, including
thehorizontal distance from the intersection of the lines to the
image center andthe difference of the absolute slope values of
the left and the right featurelines. Finally, to carry out the
turning process of indoor navigation, asimple turning algorithm
based on the geometric relationship between theturning baseline
and the orientation of the ALV is developed. Many successful
experiments are made on a concrete ALV to verify
theeffectiveness of the proposed methods individually.
Especially, this ALV candetect the locations of branches and
crossings precisely, and move forward aswell as make a turn
successfully on the hallway. So far, the experimentalresults of
the visual navigation from our methods are very encouraging.
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Tseng, Wan-Hsiang, and 曾琬翔. "An Indoor Navigation System Based on Visual Search and Mobile Sensors." Thesis, 2015. http://ndltd.ncl.edu.tw/handle/73901195553404919834.
Full textAbstract:
碩士<br>國立交通大學<br>多媒體工程研究所<br>103<br>The standard of MPEG-7 Compact Descriptor for Visual Search (CDVS) framework is the foundation of
the visual search component. However, the repeating structures throughout the indoor environment (e.g.
corridors) and locations with little visual features (e.g. uniform walls) can potentially lead to low accuracy
of the vision-based system. To cope with this issue, a probabilistic model is proposed to fuse the location associated image retrieval result by CDVS and the sensors readings on mobile device. Furthermore, an
entropy-based filter is designed to filter those input images without sufficient information gain.
Experiments show good results for the proposed system. Moreover, it is the rst time that the complete
MPEG-7 CDVS framework is implemented on mobile Android platform, which not only ensures the
proposed system can work in offline mode, but also demonstrates the future possibility on vision-based
indoor navigation system to standardize.