GPS와 다중센서를 이용한 시각장애인 실외 보행안내 시스템
Outdoor Navigation System for Visually Impaired Persons Incorporating GPS and Multiple Sensors
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참고문헌
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초록
본 연구에서는 시각장애인이 실외에서 목적지까지 안전하게 보행할 수 있도록 하는 착용형 단말 시스템을 제안한다. GPS 수신기를 통하여 현재의 위치 정보를 얻어 목적지까지 안내하고 보행 경로 상에 위치한 장애물은 초음파 센서로 감지하여 보행자가 회피하도록 한다. 이때 지자기 센서를 함께 사용하여 보행자가 정면을 지향하도록 한다. GPS 수신기를 통해 얻은 위치 정보의 오차를 줄이기 위해 보속에 맞게 이동 거리를 보정하고, 경로를 벗어난 경우에는 맵 매칭 방법을 이용하여 원래 경로로 복귀하도록 한다. 보행자가 원하는 목적지를 설정하면, GPS에 기반한 측위 정보와 경로탐색 알고리즘을 사용하여 목적지로 안내한다. 다수의 초음파 센서를 이용하여 측정한 장애물까지의 거리 데이터로 전방의 공간 구조를 몇 가지 패턴으로 분류하고, 이를 기반으로 안전한 보행 방향을 결정한다. 본 시스템은 시각장애인이 타인의 도움 없이 현재 자신이 위치한 곳에 대한 위치 정보와 공간 정보를 얻고 원하는 목적지까지 안전하게 보행할 수 있도록 한다.
Abstract
In this paper, we propose a wearable system that helps a visually impaired person to walk safely to the destination in outdoor. Our system guides a user to arrive at destination using positioning data detected by a GPS receiver. Also it uses multiple ultrasonic sensors to detect and avoid obstacles in front of users. Then, the system uses a magnetic compass sensor to estimate forward orientation of user. We use correction algorithm that is considered of walking speed to reduce the positioning error received by the GPS and exploit map matching algorithm when a user breaks way from the correct path. If a user selects destination, the system guides the user to arrive at destination using position information based on the GPS and path search algorithm. At the same time, we simplify a complicated spatial structure in front of user into some patterns by means of ultrasonic sensors and determine an avoidance direction by analysing the patterns. Our system helps users to arrive to destination safely without others help since they can know self-position and spatial structure.
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