ORCID Profile
0000-0002-6282-0456
Does something not look right? The information on this page has been harvested from data sources that may not be up to date. We continue to work with information providers to improve coverage and quality. To report an issue, use the Feedback Form.
Publisher: European Open Science Publishing
Date: 03-09-2019
Publisher: IEEE
Date: 12-2012
Publisher: IEEE
Date: 07-2012
Publisher: Springer International Publishing
Date: 2021
Publisher: IEEE
Date: 12-2010
Publisher: Cambridge University Press (CUP)
Date: 20-06-2014
DOI: 10.1017/S0373463314000344
Abstract: For indoor pedestrian navigation with a shoe-mounted inertial measurement unit (IMU), the zero velocity update (ZUPT) technique is implemented to constrain the sensors' error. ZUPT uses the fact that a stance phase appears in each step at zero velocity to correct IMU errors periodically. This paper introduces three main contributions we have achieved based on ZUPT. Since correct stance phase detection is critical for the success of applying ZUPT, we have developed a new approach to detect the stance phase of different gait styles, including walking, running and stair climbing. As the extension of ZUPT, we have proposed a new concept called constant velocity update (CUPT) to correct IMU errors on a moving platform with constant velocity, such as elevators or escalators where ZUPT is infeasible. A closed-loop step-wise smoothing algorithm has also been developed to eliminate discontinuities in the trajectory caused by sharp corrections. Experimental results demonstrate the effectiveness of the proposed algorithms.
Publisher: Springer Science and Business Media LLC
Date: 05-08-2004
Publisher: Elsevier BV
Date: 06-2000
Publisher: Elsevier BV
Date: 03-2023
Publisher: Elsevier BV
Date: 02-2017
Publisher: Institute of Electrical and Electronics Engineers (IEEE)
Date: 08-2015
Publisher: EJournal Publishing
Date: 2018
Publisher: Elsevier BV
Date: 03-2024
Publisher: MDPI AG
Date: 07-08-2023
DOI: 10.3390/BIOMIMETICS8040350
Abstract: Biological principles draw attention to service robotics because of similar concepts when robots operate various tasks. Bioinspired perception is significant for robotic perception, which is inspired by animals’ awareness of the environment. This paper reviews the bioinspired perception and navigation of service robots in indoor environments, which are popular applications of civilian robotics. The navigation approaches are classified by perception type, including vision-based, remote sensing, tactile sensor, olfactory, sound-based, inertial, and multimodal navigation. The trend of state-of-art techniques is moving towards multimodal navigation to combine several approaches. The challenges in indoor navigation focus on precise localization and dynamic and complex environments with moving objects and people.
Publisher: IEEE
Date: 08-2012
Publisher: IEEE
Date: 12-2012
Publisher: Elsevier BV
Date: 08-1999
Publisher: IEEE
Date: 11-2012
Publisher: MDPI AG
Date: 06-09-2022
Abstract: Numerous path-planning studies have been conducted in past decades due to the challenges of obtaining optimal solutions. This paper reviews multi-robot path-planning approaches and decision-making strategies and presents the path-planning algorithms for various types of robots, including aerial, ground, and underwater robots. The multi-robot path-planning approaches have been classified as classical approaches, heuristic algorithms, bio-inspired techniques, and artificial intelligence approaches. Bio-inspired techniques are the most employed approaches, and artificial intelligence approaches have gained more attention recently. The decision-making strategies mainly consist of centralized and decentralized approaches. The trend of the decision-making system is to move towards a decentralized planner. Finally, the new challenge in multi-robot path planning is proposed as fault tolerance, which is important for real-time operations.
Publisher: IEEE
Date: 05-2011
Publisher: MDPI AG
Date: 27-10-2022
DOI: 10.3390/S22218247
Abstract: Ultra-wideband (UWB) is a promising indoor position technology with centimetre-level positioning accuracy in line-of-sight (LOS) situations. However, walls and other obstacles are common in an indoor environment, which can introduce non-line-of-sight (NLOS) and deteriorate UWB positioning accuracy to the meter level. This paper proposed a succinct method to identify NLOS induced by walls and mitigate the error for improved UWB positioning with NLOS. First, NLOS is detected by a sliding window method, which can identify approximately 90% of NLOS cases in a harsh indoor environment. Then, a delay model is designed to mitigate the error of the UWB signal propagating through a wall. Finally, all the distance measurements, including LOS and NLOS, are used to calculate the mobile UWB tag position with ordinary least squares (OLS) or weighted least squares (WLS). Experiment results show that with correct NLOS indentation and delay model, the proposed method can achieve positioning accuracy in NLOS environments close to the level of LOS. Compared with OLS, WLS can further optimise the positioning results. Correct NLOS indentation, accurate delay model and proper weights in the WLS are the keys to accurate UWB positioning in NLOS environments.
Publisher: IEEE
Date: 16-12-2022
Publisher: IEEE
Date: 1999
Publisher: IEEE
Date: 07-2014
Publisher: Springer Science and Business Media LLC
Date: 24-11-2022
Publisher: Institute of Electrical and Electronics Engineers (IEEE)
Date: 08-2015
Publisher: Springer International Publishing
Date: 2014
Publisher: IEEE
Date: 19-10-2021
Publisher: IEEE
Date: 05-2014
Publisher: IEEE
Date: 12-2012
No related grants have been discovered for Jianguo Wang.