计算机科学
Dijkstra算法
运动规划
航位推算
路径(计算)
逐段导航
最短路径问题
平面图(考古学)
移动机器人导航
计算机视觉
实时计算
导航系统
人机交互
制导系统
全球定位系统
人工智能
移动机器人
工程类
机器人
理论计算机科学
电信
历史
图形
航空航天工程
考古
程序设计语言
机器人控制
作者
Hua Wu,Alan Marshall,Wai Yu
标识
DOI:10.1109/icimp.2007.31
摘要
This paper describes, path planning and following algorithms for use in indoor navigation for the blind and visually impaired. Providing indoor navigational assistance for this type of users presents additional challenges not faced by conventional guidance systems, due to the personal nature of the interactions. The algorithms are part of an overall Indoor Navigation Model that is used to provide assistance and guidance in unfamiliar indoor environments. Path planning uses the A* and Dijkstra's shortest path algorithms, to operate on an "Intelligent Map", that is based on a new data structure termed "cactus tree" which is predicated on the relationships between the different objects that represent an indoor environment. The paths produced are termed "virtual hand rails", which can be used to dynamically plan a path for a user within a region. The path following algorithm is based on dead reckoning, but incorporates human factors as well as information about the flooring and furnishing structures along the intended planned path. Experimental and simulating results show that the guiding/navigation problem becomes a divergent mathematical problem if the positional information offered by the positioning and tracking systems does not reach a certain requirement. This research explores the potential to design an application for the visually impaired even when to- date 'positioning and tracking' system cannot offer reliable position information that highly required by this type of application.
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