A UWB-Based Lighter-Than-Air Indoor Robot for User-Centered Interactive Applications
Features such as safety and longer flight times render lighter-than-air robots strong candidates for indoor navigation applications involving people. However, the existing interactive mobility solutions using such robots lack the capability to follow a long-distance user in a relatively larger indoo...
| Main Authors: | , , , , |
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| Format: | Article |
| Language: | English |
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MDPI AG
2022-03-01
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| Series: | Sensors |
| Subjects: | |
| Online Access: | https://www.mdpi.com/1424-8220/22/6/2093 |
| _version_ | 1797442538571825152 |
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| author | Khawar Naheem Ahmed Elsharkawy Dongwoo Koo Yundong Lee Munsang Kim |
| author_facet | Khawar Naheem Ahmed Elsharkawy Dongwoo Koo Yundong Lee Munsang Kim |
| author_sort | Khawar Naheem |
| collection | DOAJ |
| description | Features such as safety and longer flight times render lighter-than-air robots strong candidates for indoor navigation applications involving people. However, the existing interactive mobility solutions using such robots lack the capability to follow a long-distance user in a relatively larger indoor space. At the same time, the tracking data delivered to these robots are sensitive to uncertainties in indoor environments such as varying intensities of light and electromagnetic field disturbances. Regarding the above shortcomings, we proposed an ultra-wideband (UWB)-based lighter-than-air indoor robot for user-centered interactive applications. We developed the data processing scheme over a robot operating system (ROS) framework to accommodate the robot’s integration needs for a user-centered interactive application. In order to explore the user interaction with the robot at a long-distance, the dual interactions (i.e., user footprint following and user intention recognition) were proposed by equipping the user with a hand-held UWB sensor. Finally, experiments were conducted inside a professional arena to validate the robot’s pose tracking in which 3D positioning was compared with the 3D laser sensor, and to reveal the applicability of the user-centered autonomous following of the robot according to the dual interactions. |
| first_indexed | 2024-03-09T12:43:19Z |
| format | Article |
| id | doaj.art-eb8a1ee5679d424e9f3c6b2805fdb59e |
| institution | Directory Open Access Journal |
| issn | 1424-8220 |
| language | English |
| last_indexed | 2024-03-09T12:43:19Z |
| publishDate | 2022-03-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Sensors |
| spelling | doaj.art-eb8a1ee5679d424e9f3c6b2805fdb59e2023-11-30T22:16:08ZengMDPI AGSensors1424-82202022-03-01226209310.3390/s22062093A UWB-Based Lighter-Than-Air Indoor Robot for User-Centered Interactive ApplicationsKhawar Naheem0Ahmed Elsharkawy1Dongwoo Koo2Yundong Lee3Munsang Kim4Center for Healthcare Robotics, School of Integrated Technology, Gwangju Institute of Science and Technology (GIST), Gwangju 61005, KoreaCenter for Healthcare Robotics, School of Integrated Technology, Gwangju Institute of Science and Technology (GIST), Gwangju 61005, KoreaCenter for Healthcare Robotics, School of Integrated Technology, Gwangju Institute of Science and Technology (GIST), Gwangju 61005, KoreaCenter for Healthcare Robotics, School of Integrated Technology, Gwangju Institute of Science and Technology (GIST), Gwangju 61005, KoreaCenter for Healthcare Robotics, School of Integrated Technology, Gwangju Institute of Science and Technology (GIST), Gwangju 61005, KoreaFeatures such as safety and longer flight times render lighter-than-air robots strong candidates for indoor navigation applications involving people. However, the existing interactive mobility solutions using such robots lack the capability to follow a long-distance user in a relatively larger indoor space. At the same time, the tracking data delivered to these robots are sensitive to uncertainties in indoor environments such as varying intensities of light and electromagnetic field disturbances. Regarding the above shortcomings, we proposed an ultra-wideband (UWB)-based lighter-than-air indoor robot for user-centered interactive applications. We developed the data processing scheme over a robot operating system (ROS) framework to accommodate the robot’s integration needs for a user-centered interactive application. In order to explore the user interaction with the robot at a long-distance, the dual interactions (i.e., user footprint following and user intention recognition) were proposed by equipping the user with a hand-held UWB sensor. Finally, experiments were conducted inside a professional arena to validate the robot’s pose tracking in which 3D positioning was compared with the 3D laser sensor, and to reveal the applicability of the user-centered autonomous following of the robot according to the dual interactions.https://www.mdpi.com/1424-8220/22/6/2093autonomous vehiclecontrolhuman–robot interactionindoor trackingUWB sensorwearables |
| spellingShingle | Khawar Naheem Ahmed Elsharkawy Dongwoo Koo Yundong Lee Munsang Kim A UWB-Based Lighter-Than-Air Indoor Robot for User-Centered Interactive Applications Sensors autonomous vehicle control human–robot interaction indoor tracking UWB sensor wearables |
| title | A UWB-Based Lighter-Than-Air Indoor Robot for User-Centered Interactive Applications |
| title_full | A UWB-Based Lighter-Than-Air Indoor Robot for User-Centered Interactive Applications |
| title_fullStr | A UWB-Based Lighter-Than-Air Indoor Robot for User-Centered Interactive Applications |
| title_full_unstemmed | A UWB-Based Lighter-Than-Air Indoor Robot for User-Centered Interactive Applications |
| title_short | A UWB-Based Lighter-Than-Air Indoor Robot for User-Centered Interactive Applications |
| title_sort | uwb based lighter than air indoor robot for user centered interactive applications |
| topic | autonomous vehicle control human–robot interaction indoor tracking UWB sensor wearables |
| url | https://www.mdpi.com/1424-8220/22/6/2093 |
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