:: ICCAS 2015 ::

WC04		Mobile Robots and Navigation
Time : 16:30~18:00 Room : 104		Chair : Hyun Myung (KAIST, )



16:30~16:45	WC04-1

UML-Based Design of a Robotic Wheelchair System for Indoor Navigation Using a Visual Marker
Bong Keun Kim(National Institute of Advanced Industrial Science and Technology, Japan)

In this paper, the UML-based design method of a robotic wheelchair using an electric wheelchair and a visual marker is proposed. First, a robotic wheelchair with a visual marker which is capable of achieving a high level of precision in positioning and orienting a mobile robot without geometric features is proposed. Then, door crossing navigation methods are explained, which enable automatic and hybrid navigation of a robotic wheelchair.



16:45~17:00	WC04-2

Current Status of Indoor Positioining System Based on Visible Light
Kun Yan, Haiyan Zhou, Hailin Xiao, Xiangli Zhang(Guilin Univ. of Electronic Technology, China)

Indoor positioning is becoming a topic of interest in both academic and industry community. Numerous techniques have been proposed to address this problem under diverse circumstances. Recently, the area of indoor positioning is dominated by three kinds of methodologies, such as~\emph{range-based positioning},~\emph{fingerprint-based positioning} and~\emph{inertial positioning}. This paper is presented to overview the indoor positioning techniques using visible light based on the range-based positioning.



17:00~17:15	WC04-3

Balancing Control of a Single-wheel Robot Considering Power-efficiency and Gyroscopic Instability Suppression
Sangdeok Lee, Seul Jung(Chungnam National University, Korea, Republic of )

The lateral-balancing problem of a single-wheel based robot system has been presented. To make a power-efficient system, in this paper, rolling force-based control configuration is proposed. Although this configuration has a major disadvantage in its pitching instability problem, efficient power consumption can be achieved. The pitch instability suppression is suggested to improve the balancing performance. Experimental studies confirm that the power-consumption has been dramatically reduced and the correctness of instability suppression algorithm is properly verified.



17:15~17:30	WC04-4

The navigation method of wheeled mobile robot based on data fusion obtained from onboard sensors and camera
Aleksandr Novitsky(Institute of Automation and Control Processes FEB RAS, Russian Federation), Dmitry Yukhimets(Far Eastern Federal University, Russian Federation)

In this paper, we propose a method for constructing a mobile robot navigation system based on data fusion obtained from on-board sensors and cameras using an extended Kalman filter. Moreover, the video device we use is a low cos web-camera, that leads to whole system price reduction. The approach can significantly improve the accuracy of mobile robot navigation where global positioning systems are not available.



17:30~17:45	WC04-5

A modified Cricket method for mobile robots using Zigbee and ultrasonic sensors
Kwangsoo Kim(Hanbat National University, Korea, Republic of ), Banseok Kang(SOLETOP, Korea, Republic of ), Dong-il Cho(Seoul National University, Korea, Republic of )

In this paper, a wireless localization method using ultrasonic sensors signals, Zigbees, and encoders is pro- posed. The proposed method avoids any interferences of signals by communicating one transmitter at a time with the help of Zigbee signals. Moreover, the wireless location information is integrated with a relative localization information by encoders using a Kalman filter for more high accurate measurements. The proposed algorithm was implemented on a mobile robot and tested in several scenarios. The experimental results show the improved localization performance of the proposed algorit



17:45~18:00	WC04-6

Research of Graph-analytical Methods for a Vehicle Motion Planning
Igor Olegovich Shapovalov, Victor Vladimirovich Soloviev, Valeriy Ivanovich Finaev, Evgeny Yurievich Kosenko, Yury Arturovich Zargaryan(Southern Federal University, Russian Federation)

In this paper we present the results of research on the efficiency of graph-analytical methods for vehicle motion trajectory planning under uncertainties. The three most common graph-analytical methods were considered: potential fields, algorithms based on Voronoi diagrams, and A*-algorithm combined with the method of dynamic window. We proved the applicability of the considered methods to the problems of trajectory planning for complex dynamical objects on the example of the quadrotor flight control.