Real-Time Vision-Assisted Outdoor Unmanned Vehicle System Design and Control

• Main Authors: Zong-Yuan Wu, 吳中遠
• Other Authors: Li-Sheng Wang
• Format: Others
• Language: zh-TW
• Published: 2006
• Online Access: http://ndltd.ncl.edu.tw/handle/51511979214147808166

碩士 === 國立臺灣大學 === 應用力學研究所 === 94 === The main theme of this thesis is to develop an integrated navigation and control system for an autonomous vehicle using Vision and DGPS in outdoor environments. The vehicle uses vision to detect landmarkers and DGPS information to determine the vehicle''s position. The vehicle is constructed step by step and the data exchange mechanism between sub-systems is set up through wireless network. The task of path following is performed such that the vehicle can track along a landmarker specified in advance. In the path following control problem, we use the Fuzzy control theory to determine the velocity of the vehicle. We use black-and-white landmarks in order to increase the contrast between the roads and the landmarks. The concept of template correlation is used to identify existing landmarkers in vision. The techniques of Edge Detention and Randomized Hough Transform are then applied to obtain the parameters of the landmarker. If no landmarker is detected by the vision system, the DGPS is used to control the vehicle approaching the specified position of the landmarkers. When the vehicle is passing a crossroad, we also use the GPS information to control the attitude of the vehicle toward the destination. Experimental results showed the effectiveness of our proposed navigation and control methodology.