Title :
An autonomous land vehicle PRV III
Author :
Kim, K.I. ; Oh, S.Y. ; Kim, S.W. ; Jeong, H. ; Lee, C.N. ; Kim, B.S. ; Kim, C.S.
Author_Institution :
Pohang Univ. of Sci. & Technol., South Korea
Abstract :
PRV III (POSTECH Road Vehicle III) is the third generation outdoor intelligent vehicle. PRV III is controlled by a model reference based fuzzy controller along with a PID controller, taking both the nonlinear vehicle dynamics and the road conditions into consideration. The computer system used is composed of the C40 microprocessor based parallel architecture. The fitness based navigation algorithm which utilizes both a neural network and a conventional vision mode is encoded into our new computer system. A color vision mode based on the pyramid random model is added to adopt the unpaved cross country road environment. The laser range sensor and sonar sensors are used for the obstacle detection and avoidance module and also for the car following module
Keywords :
computer vision; computerised control; fuzzy control; image colour analysis; intelligent control; laser ranging; navigation; neurocontrollers; path planning; road vehicles; three-term control; C40 microprocessor; PID controller; POSTECH Road Vehicle III; autonomous land vehicle PRV III; color vision mode; computer vision; cruise control; fitness based navigation; laser range sensor; model reference fuzzy control; neural network; nonlinear vehicle dynamics; obstacle detection; outdoor intelligent vehicle; pyramid random model; sonar sensors; Concurrent computing; Fuzzy control; Intelligent vehicles; Land vehicles; Microprocessors; Road vehicles; Sonar detection; Sonar navigation; Three-term control; Vehicle dynamics;
Conference_Titel :
Intelligent Vehicles Symposium, 1996., Proceedings of the 1996 IEEE
Conference_Location :
Tokyo
Print_ISBN :
0-7803-3652-6
DOI :
10.1109/IVS.1996.566371
