scholarly journals Numerical Analysis of 2-D Positioned, Indoor, Fuzzy-Logic, Autonomous Navigation System Based on Chromaticity and Frequency-Component Analysis of LED Light

Sensors ◽  
2021 ◽  
Vol 21 (13) ◽  
pp. 4345
Author(s):  
Jae-Hoon Jeong ◽  
Kiwon Park
Keyword(s):  
Fuzzy Logic ◽  
Navigation System ◽  
Autonomous Navigation ◽  
Indoor Environment ◽  
Frequency Component ◽  
Component Ratio ◽  
Positioning System ◽  
Research Attention ◽  
Positioning Systems ◽  
Autonomous Navigation System

Topics concerning autonomous navigation, especially those related to positioning systems, have recently attracted increased research attention. The commonly available global positioning system (GPS) is unable to determine the positions of vehicles in GPS-shaded regions. To address this concern, this paper presents a fuzzy-logic system capable of determining the position of a moving robot in a GPS-shaded indoor environment by analyzing the chromaticity and frequency-component ratio of LED lights installed under the ceiling. The proposed system’s performance was analyzed by performing a MATLAB simulation of an indoor environment with obstacles. During the simulation, the mobile robot utilized a fuzzy autonomous navigation system with behavioral rules to approach targets successfully in a variety of indoor environments without colliding with obstacles. The robot utilized the x and y coordinates of the fuzzy positioning system. The results obtained in this study confirm the suitability of the proposed method for use in applications involving autonomous navigation of vehicles in areas with poor GPS-signal reception, such as in tunnels.

Distributed Filtering-Based Autonomous Navigation System of UAV

2015 ◽  
Vol 03 (01) ◽  
pp. 17-34 ◽  
Author(s):  
Long Zhao ◽  
Ding Wang ◽  
Baoqi Huang ◽  
Lihua Xie
Keyword(s):  
Kalman Filter ◽  
Flight Control ◽  
Navigation System ◽  
Autonomous Navigation ◽  
Vertical Channel ◽  
Positioning System ◽  
Vision Positioning ◽  
Aerial Vehicle ◽  
Sensor Information ◽  
Autonomous Navigation System

In this paper, we propose a systematic framework for the autonomous navigation system based on distributed filtering for an Unmanned Aerial Vehicle (UAV). The proposed framework consists of the design and algorithm of the autonomous navigation. Therein, the camera mounted on the UAV functions as a navigation sensor targeted for navigation and positioning. In order to reduce the computational complexity and exclude the risk caused by Global Positioning System (GPS) outage, an autonomous navigation system based on distributed filtering is designed and realized. When GPS is available by monitoring the GPS integrity, sensor information from Strapdown Inertial Navigation System (SINS) and GPS is fused using a 7-state Conventional Kalman Filter (CKF) to estimate the full UAV state (position, velocity and attitude); when GPS is unavailable, sensor information from gyroscopes, accelerometers and magnetometer is fused using a 4-state Extended Kalman Filter (EKF) to estimate the attitude and heading of the UAV, and sensor information from SINS and vision positioning system is fused using a 7-state Incoordinate Interval Kalman Filter (IIKF) to estimate the position and velocity of the UAV. In addition, the second-order vertical channel damping loop is adopted to fuse measurements from a barometer with those of SINS, which suppresses the divergence of the vertical channel error and makes the altitude information calculated by SINS trustable. Both ground and flight experiments of the autonomous navigation system have been carried out. The test results show that the system can provide stabilized attitude information in long durations, and can realize the automatic flight control of UAV.

Accuracy improvement in 3D laser scanner based on dynamic triangulation for autonomous navigation system

2017 ◽  
Author(s):  
Oscar Real-Moreno ◽  
Julio C. Rodriguez-Quinonez ◽  
Oleg Sergiyenko ◽  
Luis C. Basaca-Preciado ◽  
Daniel Hernandez-Balbuena ◽  
...  
Keyword(s):  
Navigation System ◽  
Autonomous Navigation ◽  
Laser Scanner ◽  
Accuracy Improvement ◽  
Autonomous Navigation System

scholarly journals An autonomous navigational system using GPS and computer vision for futuristic road traffic

2022 ◽  
Vol 12 (1) ◽  
pp. 179
Author(s):  
Prabha Ramasamy ◽  
Mohan Kabadi
Keyword(s):  
Computer Vision ◽  
Global Positioning System ◽  
Navigation System ◽  
Autonomous Navigation ◽  
Road Traffic ◽  
Positioning System ◽  
Traffic System ◽  
Global Positioning ◽  
Navigational System

Navigational service is one of the most essential dependency towards any transport system and at present, there are various revolutionary approaches that has contributed towards its improvement. This paper has reviewed the global positioning system (GPS) and computer vision based navigational system and found that there is a large gap between the actual demand of navigation and what currently exists. Therefore, the proposed study discusses about a novel framework of an autonomous navigation system that uses GPS as well as computer vision considering the case study of futuristic road traffic system. An analytical model is built up where the geo-referenced data from GPS is integrated with the signals captured from the visual sensors are considered to implement this concept. The simulated outcome of the study shows that proposed study offers enhanced accuracy as well as faster processing in contrast to existing approaches.

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