Straight-line motion control for autonomous land vehicles using 2D image processing techniques
Chi‐Fang Lin, Kuen-Han Hsieh · Journal of Robotic Systems · 1998
In this article, we develop a novel approach to detecting the movement changes of an autonomous land vehicle. Movement changes are of two pan values, namely, the pan angle and the pan distance between the vehicle and the navigation line. Both of these two values have to be taken into account while making movement calibration. The approach is comprised of a learning phase and an operation phase. In the former phase, a navigation map is generated by taking four images based on the preset maximum and minimum tolerant pan angles of the vehicle, while it is located on the preset maximum and minimum tolerant pan distances on the side parallel to the navigation line. In the latter phase, images are taken in regular time intervals while the vehicle follows the navigation line, and the two pan values are calculated through interpolation based on the navigation map. To increase the performance of the proposed system, two refinement approaches are also presented. Experimental results are given to reveal the superiority of the proposed approach. © 1998 John Wiley & Sons, Inc.