Abstract
This paper describes an approach that enables an autonomous vehicle to drive along a line on the ground using machine vision. Our approach has two parts: the image processing that detects the line and the steering control responsible for following the line. The procedure for visual navigation has three steps. First, one-dimensional, horizontal differentiation of a live video image detects a line in the field of view. A series of points represents this line discretely. Next, the procedure finds the cubic curve fitting these points. Finally, a steering control algorithm, called the extended target point following algorithm, uses the cubic curve to visually navigate the autonomous vehicle along the line. We implemented this approach on a vehicle with onboard computers and conducted several experiments in which the vehicle drove autonomously along a line at speeds up to 0.15m/sec. The success of these experiments demonstrate the feasibility of the algorithm.
Original language | English |
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Pages | 1321-1327 |
Number of pages | 7 |
Publication status | Published - 1992 Dec 1 |
Externally published | Yes |
Event | Proceedings of the 1992 Japan - USA Symposium on Flexible Automation Part 2 (of 2) - San Francisco, CA, USA Duration: 1992 Jul 13 → 1992 Jul 15 |
Other
Other | Proceedings of the 1992 Japan - USA Symposium on Flexible Automation Part 2 (of 2) |
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City | San Francisco, CA, USA |
Period | 92/7/13 → 92/7/15 |
ASJC Scopus subject areas
- Engineering(all)