Indoor mapping and localization for a smart wheelchair using measurements of ambient magnetic fields

Anthony T. Trezza, Nurali N. Virani, Kelilah L. Wolkowicz, Jason Z. Moore, Sean N. Brennan

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

Freedom of mobility is a crucial aspect of our daily lives. Consequently, engineering solutions for mobility, includ- ing smart wheelchairs, are becoming increasingly important for those with disabilities. However, the lack of a reliable solution for indoor localization has affected the pace of research in this direction. GPS signals cannot be measured indoors and envi- ronment modifications for wheelchair localization can be expen- sive and intrusive. This research explores the feasibility of us- ing ambient magnetic fields for indoor localization by exploit- ing the spatial non-uniformity due to ferromagnetic objects in ordinary working environments. A non-parametric density esti- mation technique was developed to build magnetic field maps. This approach is compared to an existing regression technique. Two different approximate kinematic models for the wheelchair are presented and implemented in a particle-filtering frame- work. Finally, the efficacy of these mapping techniques and motion models, including and excluding odometry information, are compared via tracking experiments conducted with a smart wheelchair.

Original languageEnglish (US)
Title of host publicationMultiagent Network Systems; Natural Gas and Heat Exchangers; Path Planning and Motion Control; Powertrain Systems; Rehab Robotics; Robot Manipulators; Rollover Prevention (AVS); Sensors and Actuators; Time Delay Systems; Tracking Control Systems; Uncertain Systems and Robustness; Unmanned, Ground and Surface Robotics; Vehicle Dynamics Control; Vibration and Control of Smart Structures/Mech Systems; Vibration Issues in Mechanical Systems
PublisherAmerican Society of Mechanical Engineers
ISBN (Electronic)9780791857267
DOIs
StatePublished - Jan 1 2015
EventASME 2015 Dynamic Systems and Control Conference, DSCC 2015 - Columbus, United States
Duration: Oct 28 2015Oct 30 2015

Publication series

NameASME 2015 Dynamic Systems and Control Conference, DSCC 2015
Volume3

Other

OtherASME 2015 Dynamic Systems and Control Conference, DSCC 2015
CountryUnited States
CityColumbus
Period10/28/1510/30/15

Fingerprint

Wheelchairs
Magnetic fields
Global positioning system
Kinematics
Experiments

All Science Journal Classification (ASJC) codes

  • Industrial and Manufacturing Engineering
  • Mechanical Engineering
  • Control and Systems Engineering

Cite this

Trezza, A. T., Virani, N. N., Wolkowicz, K. L., Moore, J. Z., & Brennan, S. N. (2015). Indoor mapping and localization for a smart wheelchair using measurements of ambient magnetic fields. In Multiagent Network Systems; Natural Gas and Heat Exchangers; Path Planning and Motion Control; Powertrain Systems; Rehab Robotics; Robot Manipulators; Rollover Prevention (AVS); Sensors and Actuators; Time Delay Systems; Tracking Control Systems; Uncertain Systems and Robustness; Unmanned, Ground and Surface Robotics; Vehicle Dynamics Control; Vibration and Control of Smart Structures/Mech Systems; Vibration Issues in Mechanical Systems (ASME 2015 Dynamic Systems and Control Conference, DSCC 2015; Vol. 3). American Society of Mechanical Engineers. https://doi.org/10.1115/DSCC2015-9915
Trezza, Anthony T. ; Virani, Nurali N. ; Wolkowicz, Kelilah L. ; Moore, Jason Z. ; Brennan, Sean N. / Indoor mapping and localization for a smart wheelchair using measurements of ambient magnetic fields. Multiagent Network Systems; Natural Gas and Heat Exchangers; Path Planning and Motion Control; Powertrain Systems; Rehab Robotics; Robot Manipulators; Rollover Prevention (AVS); Sensors and Actuators; Time Delay Systems; Tracking Control Systems; Uncertain Systems and Robustness; Unmanned, Ground and Surface Robotics; Vehicle Dynamics Control; Vibration and Control of Smart Structures/Mech Systems; Vibration Issues in Mechanical Systems. American Society of Mechanical Engineers, 2015. (ASME 2015 Dynamic Systems and Control Conference, DSCC 2015).
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abstract = "Freedom of mobility is a crucial aspect of our daily lives. Consequently, engineering solutions for mobility, includ- ing smart wheelchairs, are becoming increasingly important for those with disabilities. However, the lack of a reliable solution for indoor localization has affected the pace of research in this direction. GPS signals cannot be measured indoors and envi- ronment modifications for wheelchair localization can be expen- sive and intrusive. This research explores the feasibility of us- ing ambient magnetic fields for indoor localization by exploit- ing the spatial non-uniformity due to ferromagnetic objects in ordinary working environments. A non-parametric density esti- mation technique was developed to build magnetic field maps. This approach is compared to an existing regression technique. Two different approximate kinematic models for the wheelchair are presented and implemented in a particle-filtering frame- work. Finally, the efficacy of these mapping techniques and motion models, including and excluding odometry information, are compared via tracking experiments conducted with a smart wheelchair.",
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Trezza, AT, Virani, NN, Wolkowicz, KL, Moore, JZ & Brennan, SN 2015, Indoor mapping and localization for a smart wheelchair using measurements of ambient magnetic fields. in Multiagent Network Systems; Natural Gas and Heat Exchangers; Path Planning and Motion Control; Powertrain Systems; Rehab Robotics; Robot Manipulators; Rollover Prevention (AVS); Sensors and Actuators; Time Delay Systems; Tracking Control Systems; Uncertain Systems and Robustness; Unmanned, Ground and Surface Robotics; Vehicle Dynamics Control; Vibration and Control of Smart Structures/Mech Systems; Vibration Issues in Mechanical Systems. ASME 2015 Dynamic Systems and Control Conference, DSCC 2015, vol. 3, American Society of Mechanical Engineers, ASME 2015 Dynamic Systems and Control Conference, DSCC 2015, Columbus, United States, 10/28/15. https://doi.org/10.1115/DSCC2015-9915

Indoor mapping and localization for a smart wheelchair using measurements of ambient magnetic fields. / Trezza, Anthony T.; Virani, Nurali N.; Wolkowicz, Kelilah L.; Moore, Jason Z.; Brennan, Sean N.

Multiagent Network Systems; Natural Gas and Heat Exchangers; Path Planning and Motion Control; Powertrain Systems; Rehab Robotics; Robot Manipulators; Rollover Prevention (AVS); Sensors and Actuators; Time Delay Systems; Tracking Control Systems; Uncertain Systems and Robustness; Unmanned, Ground and Surface Robotics; Vehicle Dynamics Control; Vibration and Control of Smart Structures/Mech Systems; Vibration Issues in Mechanical Systems. American Society of Mechanical Engineers, 2015. (ASME 2015 Dynamic Systems and Control Conference, DSCC 2015; Vol. 3).

Research output: Chapter in Book/Report/Conference proceedingConference contribution

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Trezza AT, Virani NN, Wolkowicz KL, Moore JZ, Brennan SN. Indoor mapping and localization for a smart wheelchair using measurements of ambient magnetic fields. In Multiagent Network Systems; Natural Gas and Heat Exchangers; Path Planning and Motion Control; Powertrain Systems; Rehab Robotics; Robot Manipulators; Rollover Prevention (AVS); Sensors and Actuators; Time Delay Systems; Tracking Control Systems; Uncertain Systems and Robustness; Unmanned, Ground and Surface Robotics; Vehicle Dynamics Control; Vibration and Control of Smart Structures/Mech Systems; Vibration Issues in Mechanical Systems. American Society of Mechanical Engineers. 2015. (ASME 2015 Dynamic Systems and Control Conference, DSCC 2015). https://doi.org/10.1115/DSCC2015-9915