Visual navigation of an autonomous vehicle using white line recognition
- 1 September 1988
- journal article
- Published by Institute of Electrical and Electronics Engineers (IEEE) in IEEE Transactions on Pattern Analysis and Machine Intelligence
- Vol. 10 (5) , 743-749
- https://doi.org/10.1109/34.6786
Abstract
A method is presented for the autonomous visual navigation of a vehicle by using a white guide for path recognition. The vehicle moves over a white guide line on the flat ground or floor, which is contrasted with its background. The vehicle uses a forward-looking TV camera for sensing. The white-line recognition algorithm presented uses a state transition algorithm. A field pattern monitoring method is also presented for vehicle guidance using a state transition scheme. When the vehicle comes to branches, it selects a suitable direction according to a path planner output. The vehicle can also avoid collisions with obstacles in front of it by monitoring the field patterns and their changes. An experimental moving vehicle system was constructed. Tests conforming the effectiveness of these approaches are described.Keywords
This publication has 7 references indexed in Scilit:
- Robot road following by adaptive color classification and shape trackingPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2005
- Dynamic world modeling for an intelligent mobile robot using a rotating ultra-sonic ranging devicePublished by Institute of Electrical and Electronics Engineers (IEEE) ,2005
- A visual navigation systemPublished by Institute of Electrical and Electronics Engineers (IEEE) ,1986
- Range Measurements by a Mobile Robot Using a Navigation LinePublished by Institute of Electrical and Electronics Engineers (IEEE) ,1986
- Sensing Error for a Mobile Robot Using Line NavigationPublished by Institute of Electrical and Electronics Engineers (IEEE) ,1985
- The Stanford Cart and the CMU RoverProceedings of the IEEE, 1983
- Vehicle Guidance by Digital Picture Processing and Successive State EstimationIFAC Proceedings Volumes, 1981