Real-time visual control for an intelligent vehicle: the convoy problem
Nasser Kehtarnavaz, Norman C. Griswold, J. K. Eem · Proceedings of SPIE, the International Society for Optical Engineering/Proceedings of SPIE · 1990
One of the goals of the development of vehicular systems for air, space, land and sea operations is the creation of autonomous behavior which is directed by intelligent processors. For intelligent vehicle systems the goal-directed autonomy includes convoy following. In this paper, the convoy problem is investigated as a real-time control problem, the prime input of which is a stereo vision sensing system. The general approach to maintaining a safe distance along with the calibration of the stereo system is discussed in this paper. The methodology merges intelligent real-time control with techniques developed to solve constituent problems in the system. Real-time system definitions are given as well as preliminary results of controlling an actual autonomous vehicle in real-time.