Image processing algorithms were developed to permit use of a laser-based vision device for autonomous navigation of a wheeled vehicle. Imagery and processing results are given. Operation of the laser-based vision device (ERIM's Autonomous Land Vehicle sensor) is described, including a new output signal that is sensitive to scene texture or vertical structure; other signals provide range and reflectance information. Simulation software packages were developed to model a robotic vehicle's performance and to study advanced planner concepts required for flexible vehicle behavior. Plans to develop a demonstration vehicle are given. Keywords: Image processing; Vision sensor; Planners; Lasers; Vehicle control; Robotics. (jhd)
Robotic Mobility System: Road Following Algorithms
1990
132 pages
Report
No indication
English
Road Transportation , Navigation & Guidance System Components , Pattern Recognition & Image Processing , Computers, Control & Information Theory , Autonomous navigation , Image processing , Robotics , Algorithms , Computer programs , Computerized simulation , Control , Demonstrations , Optical detectors , Ground vehicles , Laser applications , Mobility , Output , Packaging , Reflectance , Sensitivity , Signals , Simulation , Texture , Vehicles , Vision , Wheels