Robotic Mobility System: Road Following Algorithms
Final rept. Sep 1984-Dec 1988
ENVIRONMENTAL RESEARCH INST OF MICHIGANANN ARBOR SENSOR SYSTEMS DIV
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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 ERIMs 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 vehicles 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.
- Land and Riverine Navigation and Guidance