scholarly journals Blind Travel Prediction Based on Obstacle Avoidance in Indoor Scene

2021 ◽  
Vol 2021 ◽  
pp. 1-14
Author(s):  
Zhiqiang Lv ◽  
Jianbo Li ◽  
Haoran Li ◽  
Zhihao Xu ◽  
Yue Wang
Keyword(s):  
Obstacle Avoidance ◽  
Indoor Navigation ◽  
Shopping Mall ◽  
Blind People ◽  
Trajectory Prediction ◽  
Gps Navigation ◽  
Movement Characteristics ◽  
Temporal Model ◽  
Intelligent Tools ◽  
Set Up

Blind people have intelligent tools to rely on for travel with the development of navigation technology. The GPS navigation, blind track, etc., are tools that blind people often use when traveling outdoors. However, indoor navigation tools and technology for blind people are lacking. We propose an obstacle avoidance algorithm and a spatial-temporal model of trajectory prediction for the indoor travel task of the blind. The focus of this work is that it enables the blind to accurately avoid obstacles and achieve high accuracy trajectory prediction aiming at the unique movement characteristics of the blind. We set up a variety of baselines to conduct an experimental evaluation on a dataset of blind trajectories in a multistorey shopping mall. The experimental results show the advantages of the data model and predictive model of this work.

scholarly journals Obstacle Avoidance Control for Multisteering Mode of Multiaxle Wheeled Robot Based on Trajectory Prediction Strategy

2021 ◽  
Vol 2021 ◽  
pp. 1-13
Author(s):  
Yongqiang Zhu ◽  
Junru Zhu ◽  
Pingxia Zhang
Keyword(s):  
Obstacle Avoidance ◽  
Control Strategy ◽  
Trajectory Prediction ◽  
Coverage Area ◽  
Iterative Calculation ◽  
Wheeled Robot ◽  
Avoidance Control ◽  
Narrow Space ◽  
The Relationship ◽  
Prediction Strategy

A multiaxle wheeled robot is difficult to be controlled due to its long body and a large number of axles, especially for obstacle avoidance and steering in narrow space. To solve this problem, a multisteering mode control strategy based on front and rear virtual wheels is proposed, and the driving trajectory prediction of the multiaxle wheeled robot is analyzed. On this basis, an obstacle avoidance control strategy based on trajectory prediction is proposed. By calculating the relationship between the lidar points of the obstacle and the trajectory coverage area, the iterative calculation of the obstacle avoidance scheme for the proposed steering is carried out, and the feasible obstacle avoidance scheme is obtained. The mechanical structure, hardware, and software control system of a five-axle wheeled robot are designed. Finally, to verify the effectiveness of the obstacle avoidance strategy, a Z-shaped obstacle avoidance experiment was carried out. The results confirm the effectiveness of the proposed control strategy.

Integrating Wearable Haptics and Obstacle Avoidance for the Visually Impaired in Indoor Navigation: A User-Centered Approach

2020 ◽  
pp. 1-1
Author(s):  
Federica Barontini ◽  
Manuel Giuseppe Catalano ◽  
Lucia Pallottino ◽  
Barbara Leporini ◽  
Matteo Bianchi
Keyword(s):  
Obstacle Avoidance ◽  
Visually Impaired ◽  
Indoor Navigation ◽  
User Centered

Robotic System Used for Navigation and Tracking, in Real Time, with the Obstacle Avoidance

2014 ◽  
Vol 1077 ◽  
pp. 221-226
Author(s):  
Dan Popescu ◽  
Loretta Ichim ◽  
Radu Fratila ◽  
Diana Gornea
Keyword(s):  
Real Time ◽  
Obstacle Avoidance ◽  
Robotic System ◽  
Indoor Navigation ◽  
Object Localization ◽  
Mobile Platform ◽  
Mobile Object ◽  
Central Unit ◽  
The Road ◽  
Localization And Tracking

Tracking the road or a mobile object and also obstacle avoidance are very important components that must be considered in the process of developing a robotic system. In this paper we propose a mobile platform for indoor navigation, based on a cheap computing hardware, which is able to be configured in two scenarios: the first refers to the movement of the robot on a predetermined path and to avoidance the obstacles, while maintaining the final target, and the second refers to the possibility of identifying and tracking a target. The robotic system aggregates the information acquired from different sensors and combines the computing resources from the mobile platform with those from the central unit. MATLAB is used for all the implementations and tests, to develop algorithms and to create models and applications. The robot's communication with central unit is wireless. Experimental results show that the mobile platform is able to perform, in real time, the following tasks in indoor environment: the recognition of the object, localization and tracking and also the obstacles avoidance.

Research advances of indoor navigation for blind people: A brief review of technological instrumentation

2020 ◽  
Vol 23 (4) ◽  
pp. 22-32
Author(s):  
Darius Plikynas ◽  
Arunas Zvironas ◽  
Marius Gudauskis ◽  
Andrius Budrionis ◽  
Povilas Daniusis ◽  
...  
Keyword(s):  
Indoor Navigation ◽  
Blind People

scholarly journals Dynamic Analysis on Nonlinear Fluid-Structure Interaction Forces of Rub-Impact Rotor System

2014 ◽  
Vol 8 (1) ◽  
pp. 480-486
Author(s):  
Yuegang Luo ◽  
Songhe Zhang ◽  
Bin Wu ◽  
Wanlei Wang
Keyword(s):  
Numerical Simulation ◽  
Coupling Model ◽  
Rotor System ◽  
Nonlinear Dynamic Model ◽  
Interaction Forces ◽  
Structure Interaction ◽  
Movement Characteristics ◽  
Set Up ◽  
The Stability ◽  
Nonlinear Fluid

Based on the coupling model of nonlinear oil-film force and nonlinear seal fluid force, a nonlinear dynamic model of rotor system with rub-impact fault is set up. The dynamic characteristics of the system were studied with numerical simulation and the effects of airflow excited force, rubbing gap and stiffness parameters on movement characteristics of the rotor were analyzed. The results indicate that the airflow excited force can significantly restrain the stability and amplitude of rubbing rotor. The less rubbing gap and larger rubbing stiffness are in favor of the stability of the system.

scholarly journals A Spatial-Contextual Indoor Trajectory Prediction Approach via Hidden Markov Models

2022 ◽  
Vol 2022 ◽  
pp. 1-13
Author(s):  
Peng Wang ◽  
Jing Yang ◽  
Jianpei Zhang
Keyword(s):  
Large Scale ◽  
Markov Models ◽  
Hidden Markov ◽  
Shopping Mall ◽  
Prediction Problem ◽  
Unified Framework ◽  
Trajectory Prediction ◽  
Indoor Space ◽  
Prediction Approach ◽  
Moving Patterns

Unlike outdoor trajectory prediction that has been studied many years, predicting the movement of a large number of users in indoor space like shopping mall has just been a hot and challenging issue due to the ubiquitous emerging of mobile devices and free Wi-Fi services in shopping centers in recent years. Aimed at solving the indoor trajectory prediction problem, in this paper, a hybrid method based on Hidden Markov approach is proposed. The proposed approach clusters Wi-Fi access points according to their similarities first; then, a frequent subtrajectory based HMM which captures the moving patterns of users has been investigated. In addition, we assume that a customer’s visiting history has certain patterns; thus, we integrate trajectory prediction with shop category prediction into a unified framework which further improves the predicting ability. Comprehensive performance evaluation using a large-scale real dataset collected between September 2012 and October 2013 from over 120,000 anonymized, opt-in consumers in a large shopping center in Sydney was conducted; the experimental results show that the proposed method outperforms the traditional HMM and perform well enough to be usable in practice.

scholarly journals Multimodal Interaction-Aware Trajectory Prediction in Crowded Space

2020 ◽  
Vol 34 (07) ◽  
pp. 11982-11989
Author(s):  
Xiaodan Shi ◽  
Xiaowei Shao ◽  
Zipei Fan ◽  
Renhe Jiang ◽  
Haoran Zhang ◽  
...  
Keyword(s):  
Multimodal Interaction ◽  
Autonomous Driving ◽  
Human Motion ◽  
Human Interaction ◽  
Trajectory Prediction ◽  
Motion Patterns ◽  
Mixture Density ◽  
Interacting Agents ◽  
Temporal Model ◽  
Spatio Temporal

Accurate human path forecasting in complex and crowded scenarios is critical for collision avoidance of autonomous driving and social robots navigation. It still remains as a challenging problem because of dynamic human interaction and intrinsic multimodality of human motion. Given the observation, there is a rich set of plausible ways for an agent to walk through the circumstance. To address those issues, we propose a spatio-temporal model that can aggregate the information from socially interacting agents and capture the multimodality of the motion patterns. We use mixture density functions to describe the human path and predict the distribution of future paths with explicit density. To integrate more factors to model interacting people, we further introduce a coordinate transformation to represent the relative motion between people. Extensive experiments over several trajectory prediction benchmarks demonstrate that our method is able to forecast various plausible futures in complex scenarios and achieves state-of-the-art performance.

scholarly journals Shopping for Knowledge: An Alternative Environment for Learning

2013 ◽  
Vol 22 (1) ◽  
Author(s):  
Gillian Joseph
Keyword(s):  
Adult Education ◽  
Adult Learning ◽  
Sense Of Community ◽  
Radical Change ◽  
Shopping Mall ◽  
The Internet ◽  
Universities And Colleges ◽  
Post Secondary ◽  
Set Up ◽  
Definition Of

Educators who provide only traditional environments for post-secondary adult education often overlook the fact that a diverse mature student population requires a variety of formats and environments in which to learn effectively. Moreover, although universities and colleges continue to emphasize their mandates to serve the community, the definition of "community" itself is undergoing radical change. This paper suggests that the shopping mall has become an environment in which many North American adults seek out and find a strong sense of community. Furthermore, because people perceive the mall as a pleasant place to be, it is potentially an ideal milieu in which to facilitate adult learning, particularly via the Internet. As private agencies increasingly move to set up and tap the commercial value of such ventures, it is becoming increasingly important for universities and colleges to provide leadership.

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