AUTONOMOUS ROAD VEHICLE NAVIGATION

被引：6

作者：

CAMPBELL, NW ^{[1
]}

POUT, MR ^{[1
]}

PRIESTLY, MDJ ^{[1
]}

DAGLESS, EL ^{[1
]}

THOMAS, BT ^{[1
]}

机构：

[1] UNIV BRISTOL,ADV COMP RES CTR,BRISTOL BS8 1TR,AVON,ENGLAND

来源：

ENGINEERING APPLICATIONS OF ARTIFICIAL INTELLIGENCE | 1994年 / 7卷 / 02期

关键词：

IMAGE PROCESSING; ROBOTS; AUTOMATION; FOURIER ANALYSIS; LEAST-SQUARES ESTIMATION; IMAGE MOTION COMPENSATION; OBSTACLE AVOIDANCE; PARALLEL PROCESSING; REAL-TIME COMPUTER SYSTEMS;

D O I：

10.1016/0952-1976(94)90022-1

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This paper describes a new modular hardware design for an autonomous land vehicle, together with techniques for navigation and obstacle avoidance. A ''bootstrap'' algorithm is described which aligns the vehicle from an arbitrary starting point using the road's vanishing point. An algorithm to perform navigation along a structured road is then described. This is achieved by modelling the white lane-boundary marking using six parameters which are updated iteratively from frame to frame using a non-linear least-squares technique. The obstacle-detection method is based on frame differencing. Using data from the vehicle odometry sensors, a motion-corrected version of the difference between frames is produced, in which objects projecting up from the ground plane are easily identified.

引用

页码：177 / 190

页数：14

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