Younghoon Shin

Taewon Kang, Younghoon Shin

We propose an indoor navigation algorithm based on pedestrian dead reckoning (PDR) using an inertial measurement unit in a smartphone and map matching. The proposed indoor navigation system is user-friendly and convenient because it requires no additional device except a smartphone and works with a pedestrian in a casual posture who is walking with a smartphone in their hand. Because the performance of the PDR decreases over time, we greatly reduced the position error of the trajectory estimated by PDR using a map matching method with a known indoor map. To verify the proposed indoor navigation algorithm, we conducted an experiment in a real indoor environment using a commercial Android smartphone. The performance of our algorithm was demonstrated through the results of the experiment.

Jongmin Park, Sooyoung Jang, Younghoon Shin

In this study, reinforcement learning was applied to learning two-dimensional path planning including obstacle avoidance by unmanned aerial vehicle (UAV) in an indoor environment. The task assigned to the UAV was to reach the goal position in the shortest amount of time without colliding with any obstacles. Reinforcement learning was performed in a virtual environment created using Gazebo, a virtual environment simulator, to reduce the learning time and cost. Curriculum learning, which consists of two stages was performed for more efficient learning. As a result of learning with two reward models, the maximum goal rates achieved were 71.2% and 88.0%.