An autonomous land vehicle PRV III
K.I. Kim, S.Y. Oh, S.W. Kim, Hong Jin Jeong, C.N. Lee, B.S. Kim, C.S. Kim · 2002
PRV III (POSTECH Road Vehicle III) is the third generation outdoor intelligent vehicle. PRV III is controlled by a model reference based fuzzy controller along with a PID controller, taking both the nonlinear vehicle dynamics and the road conditions into consideration. The computer system used is composed of the C40 microprocessor based parallel architecture. The fitness based navigation algorithm which utilizes both a neural network and a conventional vision mode is encoded into our new computer system. A color vision mode based on the pyramid random model is added to adopt the unpaved cross country road environment. The laser range sensor and sonar sensors are used for the obstacle detection and avoidance module and also for the car following module.