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Indoor autonomous driving system based on Internet of Things

  • Journal of Internet of Things and Convergence
  • Abbr : JKIOTS
  • 2024, 10(2), pp.69-75
  • Publisher : The Korea Internet of Things Society
  • Research Area : Engineering > Computer Science > Internet Information Processing
  • Received : January 15, 2024
  • Accepted : February 28, 2024
  • Published : April 30, 2024

KIM, TAEKOOK 1 Seong-Hyeon Lee 1 Ah-Eun Kwak 1 Seung-Hye Lee 1

1국립부경대학교

Accredited

ABSTRACT

This paper proposes an IoT-based indoor autonomous driving system that applies SLAM (Simultaneous Localization And Mapping) and Navigation techniques in a ROS (Robot Operating System) environment based on TurtleBot3. The proposed autonomous driving system can be applied to indoor autonomous wheelchairs and robots. In this study, the operation was verified by applying it to an indoor self-driving wheelchair. The proposed autonomous driving system provides two functions. First, indoor environment information is collected and stored, which allows the wheelchair to recognize obstacles. By performing navigation using the map created through this, the rider can move to the desired location through autonomous driving of the wheelchair. Second, it provides the ability to track and move a specific logo through image recognition using OpenCV. Through this, information services can be received from guides wearing uniforms with the organization's unique logo. The proposed system is expected to provide convenience to passengers by improving mobility, safety, and usability over existing wheelchairs.

Citation status

* References for papers published after 2022 are currently being built.