Control of a robotic vehicle for entertainment using vision for touring University Campus

This paper presents the navigation of an entertainment robotic vehicle that follows the line on the pavement. The robotic vehicle is built with the purpose of carrying two passengers to look around the campus. Instead of using fully autonomous techniques, a semi-autonomous line following task is implemented. A line is detected by a camera from the pavement with two colors and used as the reference trajectory for the vehicle to follow. The robotic vehicle should be localized where colors are not available. Experimental studies of following the line trajectory detected by a camera are conducted to demonstrate the feasibility as an electric vehicle for traveling a short distance.