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Author Chin-Sheng Wu
Source IEEE Xplore Digital Library
Content type Text
Publisher Institute of Electrical and Electronics Engineers, Inc. (IEEE)
File Format PDF
Copyright Year ©1996
Language English
Subject Domain (in DDC) Computer science, information & general works ♦ Computer programming, programs & data ♦ Technology ♦ Engineering & allied operations ♦ Other branches of engineering
Abstract We have designed and implemented a navigation and obstacle avoidance system for our camera-guided patrolling vehicle, which was installed with an 8-node multiprocessor for the image processing, digital communication and motor control. We use the middle line of the road as the guiding mark for the video navigation. In addition to the ultrasonic obstacle avoidance system, which fails in the range outside 5 m, we add the video device to get around obstacles on the road. We consider two cases according to the environmental light; one is the dark case, the other is the bright case. In the dark case, we install one laser and one CCD camera in the front edge of the vehicle. They are separated 60 cm apart and aim at the same point located 10 m in front of the vehicle. If the image of the reflected laser light on the obstacle appears in the middle of the screen, it means the obstacle is 10 m ahead. The vehicle then executes an avoidance action. In the bright case, we replace the laser with one more camera. If both the cameras show the image of the obstacle in the middle of the screen, the vehicle then executes the avoidance action. The performance of the navigation and obstacle avoidance is reported
ISBN 0780335376
Educational Role Student ♦ Teacher
Age Range above 22 year
Educational Use Research ♦ Reading
Education Level UG and PG
Learning Resource Type Article
Publisher Date 1996-10-02
Publisher Place USA
Rights Holder Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Size (in Bytes) 212.52 kB
Page Count 3
Starting Page 30
Ending Page 32


Source: IEEE Xplore Digital Library