Title :
THMR-V: an effective and robust high-speed system in structured road
Author :
Kai, Ni ; Kezhong, He
Author_Institution :
Dept. of Comput. Sci., Tsinghua Univ., Beijing, China
Abstract :
Many systems have been developed which can drive autonomously in structured road, but little works have been reported that describe the specific system solution in a high-speed (more than 120 km/h) situation. This paper presents THMR-V (Tsinghua mobile robot V), a system that performs well with a speed up to 150 km/h. Multi-region and bi-threshold edge extraction is used for image processing and an ATN-based approach is used for lane line location.
Keywords :
edge detection; fuzzy control; mobile robots; road vehicles; roads; three-term control; ATN-based approach; PID control; Tsinghua mobile robot V; binary image; bithreshold edge threshold; fuzzy logic control; high-speed system; image processing; lane line location; multiedge edge threshold; structured road; vehicle control; Computer science; Control systems; Drives; Intelligent robots; Mobile robots; Pixel; Remotely operated vehicles; Roads; Robot kinematics; Robustness;
Conference_Titel :
Systems, Man and Cybernetics, 2003. IEEE International Conference on
Print_ISBN :
0-7803-7952-7
DOI :
10.1109/ICSMC.2003.1245672
