Indoor Positioning System Paper
Autor: Joshua • November 9, 2017 • 1,880 Words (8 Pages) • 199 Views
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working

Navigation Algorithm
The idea behind the algorithm is to calculate the required displacement needed to be travelled by the cart to reach the location of the wished item. The travelled distance is monitored by the wheel encoder. Also the cart is always directed towards the center of the mall. To do so we have four cases incorporated in the algorithm. In the algorithm 'k' is the scaling factor which varies from store to store.
First case deals with traversing the cart to the very first item on the wish list. This case is compulsorily executed once for every user. This case includes all the initial setup procedure required for navigation. In this case, cart calculates the (x, y) coordinates needed to be travelled to reach the location of the wished item. If the destination x coordinate is smaller than the present x coordinate, the cart takes a 90 degree left turn, else a right turn. The cart then moves straight to find the only track which is 100*k units apart. After moving straight the cart takes a 90 degree right turn if the destination x coordinate is smaller than the starting x coordinate else a left turn. Now the cart travels y distance, takes a 90 degree left/right turn depending upon the destination and the starting x coordinate value and then again travels x distance to reach the location of the wished item. If the difference between destination and the starting y coordinate is greater than 200*k units, cart takes a 180 degree turn to orient towards the center of the store.
Second and the third are the special cases. Second case deals with the nearest(adjacent) item and third case with the farthest item present from the current location. In the second case we calculate from coordinates whether the wished item is to the right or left from the present cart location. If the wished item is to the left/right, we give commands to the cart to turn left/right by 90 degrees, then order the cart to go straight in x as well as y direction, and again make a right/left turn so as to orient towards the center of the store.
In the third case, if the cart is located at the extreme y coordinates, it travels y units, if the destination x coordinate is less than the start x coordinate cart takes a left turn else a right turn by 90 degrees in each case and then again travels x value to reach the location of the wished item. Again the cart turns in the same direction (90 degrees left or right) as it did to reach the present location so as to orient itself to the center of the mall. In the course if cart travels in the negative x, y coordinate directions, the starting and the destination (y, x) values are negated. The same procedure is followed if the cart is located at the extreme x coordinates, except the cart first travels the x units and then the y units.
The fourth case includes all the remaining possibilities of location of the wished item. If the cart is located at the extreme y coordinates, it travels y units, if the destination x coordinate is less than the start x coordinate cart takes a left turn else a right turn by 90 degrees in each case and then again travels x value to reach the location of the wished item. Now the cart takes a 180 degree turn to face the center of the mall. In the course if cart travels in the negative x, y coordinate directions, the starting and the destination (y, x) values are negated. The same procedure is followed if the cart is located at the extreme x coordinates, except the cart first travels the x units and then the y units.

Block diagram
Fig.5 Block Diagram

conclusion
We conclude that the development and implementation of the Indoor Positioning System using aforementioned techniques is practical and cost effective. A decent level of precision is obtained with very few addons to the existing infrastructure. The concept of IPS will enable commercial establishments like stores, malls, etc to log user location data, and use this data in conjunction with other data and models to provide location specific services to the customer thereby greatly improving the customer’s shopping experience. Problems experienced in the project were understood, studied and solutions were successfully brought up with the prototype model.

future work
The Indoor Positioning System has far and wide potential applications in today’s day and age. Rapid progress made by the society has helped bring a large number of items within easy reach, which has led to an exponential increase in demand. To process this increased demand as quickly as possible to protect and nurture business interests, there has been an increasing need of an autonomous system which can replace the human operator, increase accuracy, reduce operational costs and deliver instantaneously. To bring about automation in such scenarios with few infrastructural alterations, a smart and aware environment is proposed. This same technology can be adapted for use in
 Warehouses
 Medical establishments
 Factories
 Manufacturing plants
 Hazardous zones
 Military &Police applications
 and in Tourist Hotspots

references
[1] Andrea Bonarini and Matteo Matteucci and Marcello Restelli, “A Kinematicindependent Deadreckoning Sensor for Indoor Mobile Robotics”, Department of Electronics and Information Politecnico di Milano Milan, Italy.
[2] SilkeFeldmann, Kyandoghere Kyamakya, Ana Zapater, Zighuo Lue. “An indoor Bluetoothbased positioning system: concept, Implementation and experimental evaluation” Institute of Communications Engineering.

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