New vision system and navigation algorithm for an autonomous ground vehicle
Hokchhay Tann, Bicky Shakya, Alexander Merchen, Benjamin C. Williams, Abhishek Khanal, Jiajia Zhao, David J. Ahlgren · Proceedings of SPIE, the International Society for Optical Engineering/Proceedings of SPIE · 2014
Improvements were made to the intelligence algorithms of an autonomously operating ground vehicle, Q, which competed in the 2013 Intelligent Ground Vehicle Competition (IGVC). The IGVC required the vehicle to first navigate between two white lines on a grassy obstacle course, then pass through eight GPS waypoints, and pass through a final obstacle field. Modifications to Q included a new vision system with a more effective image processing algorithm for white line extraction. The path-planning algorithm adopted the vision system, creating smoother, more reliable navigation. With these improvements, Q successfully completed the basic autonomous navigation challenge, finishing tenth out of over 50 teams.