Karimanzira, Divas

Rost, Roman

Roß, Fred

Stein, Mathias

Stiller, Carsten

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  PROCEEDINGS 11-15 September 2006      FACULTY OF ELECTRICAL ENGINEERING AND INFORMATION SCIENCE    INFORMATION TECHNOLOGY AND ELECTRICAL ENGINEERING - DEVICES AND SYSTEMS, MATERIALS AND TECHNOLOGIES FOR THE FUTURE      Startseite / Index: http://www.db-thueringen.de/servlets/DocumentServlet?id=12391 51. IWK Internationales Wissenschaftliches Kolloquium International Scientific Colloquium Impressum  Herausgeber: Der Rektor der Technischen Universität llmenau  Univ.-Prof. Dr. rer. nat. habil. Peter Scharff  Redaktion: Referat Marketing und Studentische Angelegenheiten  Andrea Schneider   Fakultät für Elektrotechnik und Informationstechnik  Susanne Jakob  Dipl.-Ing. Helge Drumm  Redaktionsschluss: 07. Juli 2006  Technische Realisierung (CD-Rom-Ausgabe):  Institut für Medientechnik an der TU Ilmenau  Dipl.-Ing. Christian Weigel  Dipl.-Ing. Marco Albrecht  Dipl.-Ing. Helge Drumm  Technische Realisierung (Online-Ausgabe):  Universitätsbibliothek Ilmenau    Postfach 10 05 65  98684 Ilmenau  Verlag:   Verlag ISLE, Betriebsstätte des ISLE e.V.  Werner-von-Siemens-Str. 16  98693 llrnenau   © Technische Universität llmenau (Thür.) 2006  Diese Publikationen und alle in ihr enthaltenen Beiträge und Abbildungen sind urheberrechtlich geschützt. Mit Ausnahme der gesetzlich zugelassenen Fälle ist eine Verwertung ohne Einwilligung der Redaktion strafbar.   ISBN (Druckausgabe): 3-938843-15-2 ISBN (CD-Rom-Ausgabe): 3-938843-16-0  Startseite / Index: http://www.db-thueringen.de/servlets/DocumentServlet?id=12391  51st Internationales Wissenschaftliches KolloquiumTechnische Universität Ilmenau September 11 – 15, 2006C. Stiller / F. Roß / D. Karimanzira / R. Rost / M. SteinA Framework for Individualized Route Planning andNavigation for Pedestrian Users 1. INTRODUCTION   In earlier  publications [1][2][3]  we introduced our  researches on an assistancesystem for tourists with special needs. While the above-mentioned works focused onuser interface and infrastructure issues, we'll now present an information frameworkthat extends the functionality of well  known route planning algorithms in a way toinclude the users physical abilities as well as the personal interests. 2. ENERGY EQUIVALENT ROUTE SECTIONS   Nowadays route planning algorithms are mostly used for car navigation systems,either on web-based applications and information systems or on mobile navigationsystems. Besides the length of the route, the time used to get from the starting pointto the end point is a major criteria to select the best route. But pedestrians usuallyhave more complex demands. According to the personal physical condition the oneor the other route might be more comfortable to a certain user. If you include bodily-impaired users to the potential  user  group,  the complexity increases furthermore.This  paper  introduces  a  heuristic  approach  based  on  personalized  energyequivalent values of route sections l°  for the route planning.  l°  is calculated as inthe following equation:l°=l⋅c ⋅c°cunderground , cweather⋅c physicalconditionH seeH hearH walk        (1)where a route section is a real world path from one junction to the next, or parts ofsuch a real world path, l  is the actual length of this route section, c   is a functionof  the  sections'  inclination  that  represents  the  change  in  the  needed  effort  toovercome a way with the given inclination.  Note that  c   is not symmetrical,  asdifferent efforts are needed to walk a hill  up or down [4]. The factor  c°  representsthe  effort  needed  to  overcome  a  certain  type  of  surface  at  certain  weatherconditions.   So far each parameter of the equation does not depend on the actual user andchanges in those parameters do not occur at all (inclination) or occur only long-term(track surface) or in mid-term (weather) periods.   The  parameters  for  the  personalized  part  of  Equation  (1)  are  acquired  by  aknowledge  based  system based  on  a  user  survey  which  is  held  prior  the  routeplanning itself [2][3][5]. Of these personalized parameters only  c physicalcondition  is usedto  scale  the  physical  effort  up  or  down.  The  result  of  this  computation  so  farrepresents  the  effort  to  walk  this  route  section  assuming  there  are  no  furtherobstacles. A route planning based on a path-network like this would be sufficient formost users without any physical limitations. To pay attention to the needs of userswith a certain kind of limitation, a modular approach was chosen to add the effortneeded to overcome specific obstacles located on the route section.   So far three adjacent modules for seeing impairments ( H see ), hearing impairments( H hear ) and walking impairments ( H walk ) are intended. Further works might includemore modules and also interaction between the modules. The value of each moduleoutput  H  can range from 0  (no obstacles for this type of impairment) to ∞  (anobstacle can not be bypassed at all).   The modules  themselves  can be implemented  in  different  approaches.  So fardecision trees and fuzzy logic have been tested.   As a result you will get a weighted, directed graph, in which the weights of theedges represent the effort a certain user needs to overcome the route section and allobstacles  on  this  route  sections.  To  find  an  optimized  route,  a  shortest  pathalgorithm is run on this graph [6].3. EXAMPLES AND TEST RESULTS   To evaluate our approach a web-based route planning system was implementedusing JBoss as J2EE Application Server and PostGreSQL with PostGIS extensionas geographical database system. The routes planned on this system can later beloaded onto mobile devices (PDAs) to guide the user on the planned tour. Fig 1: Different calculated routes for different users.Figure 1 shows three possible results of the route planning for different users. Thestarting point of all routes is a lecture hall of the Technical University Ilmenau (flag1),  the  end point  is  the nearby  cafeteria  of  the  university  (flag  2).  Different  realobstacles are placed on the map, like a heavy traffic crossway in the northwest ofthe cafeteria and a small stairway at the southern terrace of the cafeteria.   The picture at  the upper  left  shows the route for  a user  without  any physicallimitations.  The algorithm selects the direct  connection  between the start  and theend point.  The picture at the upper right shows the route, calculated for a seeingimpaired user. The algorithm avoids passing the cross-way and directs the user tothe slightly longer,  but much safer path. The last picture at the bottom shows theroute  for  a  wheelchair  driver.  Not  only  the  cross-way  is  avoided  but  also  analternative way for the stairs is used. Note that the cross-way could be included inthe routes if the alternative way would be to long and the risk at this cross-way wouldnot be too high compared with the necessary detour.The stairs on the other handwould never  be included into the route for  the wheelchair  driver.  To achieve thisbehavior, the stairs are rated with an infinite value at the H walk  module if the userselected a wheelchair driver profile in the survey. The cross-way is rated with a high,but not infinite value by both, the H walk  and the H see  value.4. FIELDS OF APPLICATION   While  the  project  has  the  background  of  accessible  tourism,  the  proposedenhancement to pedestrian route planning can be used in a broad field of possibleareas.  Not  only  bodily-impaired  people  might  benefit  from a  personalized  routeplanning, but also families with children and baby carriages, elderly people or evenathletes  are  possible  user  groups.  To  include  personal  interests  in  the  routeplanning, a module  H interest  might be implemented to weight the “touristic value” ofthe route.References:[1] Fröber, U. et al., TAS – Ein Touristisches Assistenzsystem für den barrierefreien Zugang zu Urlaubs-, Freizeit- undBildungsaktivitäten im Thüringer Wald, 50. Internationales Wissenschaftliches Kolloquium IWK, September 19 – 23,  2005,Ilmenau/Germany[2] Stiller, C. et al., TAS – Touristic Assistance System For Usergroups with Special Needs, 3rd European Medical & BiologicalEngineering Conference EMBEC, November 20 – 25, 2005, Prague/Czech Republic [3] Stiller, C. et al., A Handheld/Server Based Assistance System for Users with Special Needs, Advances in Computer Scienceand Technology ACST, January 23 – 25, 2006, Puerto Vallarta/Mexico[4] Lüder, F., Entwicklung eines Entscheidungshilfesystems für Routenbestimmung im TAS-System, Studienarbeit, TU Ilmenau[5] Roß, F., Bewertung von Fuzzy-Operatoren für Entscheidungsaufgaben  45. Internationales Wissenschaftliches Kolloquium IWK,September,  2000, Ilmenau/Germany[6] Dijkstra, E. W., A Note On Two Problems in Connections With Graphs. Numerische Math., 1:269-271, 1951Authors:Dipl.-Inf. Carsten StillerDr.-Ing. Fred RoßDr.-Ing. Divas Karimanzira Dipl.-Inf. Roman RostDipl.-Inf. Mathias SteinFachgebiet Systemanalyse, Fakultät für Informatik und AutomatisierungTechnische Universität IlmenauPF 100565, D - 98684 IlmenauPhone: +49 3677 69 1417Fax: +49 3677 69 1434E-mail: [name.surname]@tu-ilmenau.de

A framework for individualized route planning and navigation for pedestrian users

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A framework for individualized route planning and navigation for pedestrian users

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