Advanced guided vehicle: distributed system

This paper focuses on the construction of an advanced guided vehicle in the following areas: localization process, motion control process and the integration of the overall system, vision processing, and path planning. The localization process is to determine the position and orientation of the vehicle continuously during the running of the vehicle. The motion control process commands the motor to drive the vehicle to the desired position. Effort was put into improving the estimation and driving for upto expectation accuracy. The integration task aims at corporating the various tasks together for the completion of the project. Vision processing is to process the image captured by the CCD camera to determine the obstacle information in front of the vehicle. The path planning process is to define the path for the vehicle to travel