Following control design of moving targets for an intelligent vehicle combined with computer vision

This paper develops the design of an intelligent vehicle system with computer vision to achieve the purpose of moving-target following in an unknown indoor environment. The design of this system includes three major parts, namely target following, color image processing, and collision prevention. The proposed system using image processing can analyze and follow the moving-target with the interested color, so the intelligent vehicle has the potentials to move appropriately and reach the desired destination. During the procedure of following to track the desired target, whenever the moving-target is lost, it can apply the useful image information to retrieve the actual target position by camera. In addition, the infrared sensor is employed to return the distance information of moving-target in order to maintain an appropriate following distance between vehicle and desired target for avoiding collision. As a result, some practical experiments are given to illustrate that the purpose of moving-target following is indeed achieved successfully.