Image processing based control for scaled automated vehicles

Author

Schlegel, Nikolai ; Kachroo, Pushkin ; Ball, Joseph A. ; Bay, John S.

Author_Institution

Qualcomm Inc., San Diego, CA, USA

fYear

1997

fDate

9-12 Nov 1997

Firstpage

1022

Lastpage

1027

Abstract

This paper presents a way to design a lateral controller for an automated vehicle using information gained through image processing with the control objective being to stay on a desired path. Two possible ways to obtain the information necessary for lateral control by image processing are presented, one based on pixel intensity summation and the other on vanishing point calculations. The paper also describes two algorithms for the actual lateral control, one based on classical control theory and the other on modern H_∞ control. The resulting control algorithms were implemented on a scaled autonomous vehicle system

Keywords

H^∞ control; computer vision; position control; road vehicles; H_∞ control; autonomous vehicles; image processing; lateral control; pixel intensity summation; position control; road vehicles; scaled autonomous vehicle system; vanishing point; Automatic control; Hardware; Image processing; Microcontrollers; Mobile robots; Pixel; Process control; Remotely operated vehicles; Road vehicles; Vehicle driving;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Transportation System, 1997. ITSC '97., IEEE Conference on

Conference_Location

Boston, MA

Print_ISBN

0-7803-4269-0

Type

conf

DOI

10.1109/ITSC.1997.660614

Filename

660614