Camera Based Guiding System for a Small Car
Mamon J. Mohammed, Loay Edwar George · 2013
This paper presents the development of camera based guiding system for a small car. The tasks handled by guiding system are the processing of collected visual data, deflections from the reference route mark and issue the steering commands. The information coming from a CCD color camera which is mounted on the RC car, are processed in order to determine the position of the car relative to the planned route. Simple mathematical models and image processing algorithms have been developed and utilized to determine the car position and motion deflection accurately and with lowest possible computational load. In case of outdoor environment the camera based guiding system task become harder, because the developed software should be compensate the changes in both light and the relative appearance of reference mark on the ground which may appear solid or broken area due to the high variation in spectral reflectance beside to the appearance of painted potholes. The established guiding system includes a module for originating the proper motion control commands. The proportional steering command origination module depends on the position and heading of the vehicle (relative to the planned route), such that the moving vehicle should be stick around the route reference line till reaching its planned destination. Keyword— Guiding system, Vision based Guidnce system, Line following robot. —————————— ——————————