Robotic Mobility System: Road Following Algorithms

Abstract

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.

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Document Details

Document Type
Technical Report
Publication Date
Jan 01, 1990
Accession Number
ADA218107

Entities

People

  • Dwayne C. Carmer
  • F. Pont
  • L. Harmon
  • N. Finzel
  • R. Franklin

Tags

Communities of Interest

  • Sensors
  • Space

DTIC Thesaurus Topics

  • Algorithms
  • Autonomous Navigation
  • Cartesian Coordinates
  • Collision Avoidance
  • Computer Programming
  • Computer Programs
  • Computers
  • Control Systems
  • Detection
  • Detectors
  • Guidance
  • Image Processing
  • Lisp Programming Language
  • Navigation
  • Simulations
  • Three Dimensional
  • Unmanned Vehicles

Fields of Study

  • Engineering

Readers

  • Computer Vision.
  • Logistics and Supply Chain Management.
  • Optical Physics and Photonics.

Technology Areas

  • AI & ML
  • AI & ML - Autonomous Systems
  • Autonomy
  • Directed Energy