Visual generalized predictive path tracking

Author

Ferruz, Joaquín ; Ollero, Aníbal

Author_Institution

Seville Univ., Spain

fYear

1998

fDate

29 Jun-1 Jul 1998

Firstpage

159

Lastpage

164

Abstract

This paper describes a path-tracking method which allows the real-time control of an autonomous vehicle. A generalized predictive control approach is used to keep the vehicle on a trajectory defined by a moving target, detected and tracked through image processing. A fast parallel implementation of the target tracking algorithms allows the system to achieve short target position update cycles. The path-tracking method has been used to control the autonomous vehicle ROMEO-3R

Keywords

computer vision; computerised navigation; image matching; intelligent control; mobile robots; path planning; predictive control; target tracking; ROMEO-3R; autonomous vehicle; generalized predictive control; image matching; image processing; parallel processing; path-tracking; real-time system; target tracking; Automatic control; Image matching; Image processing; Mobile robots; Object detection; Predictive control; Radar tracking; Remotely operated vehicles; Target tracking; Trajectory;

fLanguage

English

Publisher

ieee

Conference_Titel

Advanced Motion Control, 1998. AMC '98-Coimbra., 1998 5th International Workshop on

Conference_Location

Coimbra

Print_ISBN

0-7803-4484-7

Type

conf

DOI

10.1109/AMC.1998.743529

Filename

743529

Link To Document

https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=2531328