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Proceedings Paper

Line following using a two camera guidance system for a mobile robot
Author(s): Tayib Samu; Nikhal Kelkar; David Perdue; Michael A. Ruthemeyer; Bradley O. Matthews; Ernest L. Hall
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Paper Abstract

Automated unmanned guided vehicles have many potential applications in manufacturing, medicine, space and defense. A mobile robot has been designed for the 1996 Automated Unmanned Vehicle Society competition which was held in Orlando, Florida on July 15, 1996. The competition required the vehicle to follow solid and dashed lines around an approximately 800 ft. path while avoiding obstacles, overcoming terrain changes such as inclines and sand traps, and attempting to maximize speed. The purpose of this paper is to describe the algorithm developed for the line following. The line following algorithm images two windows and locates their centroid and with the knowledge that the points are on the ground plane, a mathematical and geometrical relationship between the image coordinates of the points and their corresponding ground coordinates are established. The angle of the line and minimum distance from the robot centroid are then calculated and used in the steering control. Two cameras are mounted on the robot with a camera on each side. One camera guides the robot and when it loses track of the line on its side, the robot control system automatically switches to the other camera. The test bed system has provided an educational experience for all involved and permits understanding and extending the state of the art in autonomous vehicle design.

Paper Details

Date Published: 29 October 1996
PDF: 8 pages
Proc. SPIE 2904, Intelligent Robots and Computer Vision XV: Algorithms, Techniques,Active Vision, and Materials Handling, (29 October 1996); doi: 10.1117/12.256287
Show Author Affiliations
Tayib Samu, Univ. of Cincinnati (United States)
Nikhal Kelkar, Univ. of Cincinnati (United States)
David Perdue, Univ. of Cincinnati (United States)
Michael A. Ruthemeyer, Univ. of Cincinnati (United States)
Bradley O. Matthews, Univ. of Cincinnati (United States)
Ernest L. Hall, Univ. of Cincinnati (United States)

Published in SPIE Proceedings Vol. 2904:
Intelligent Robots and Computer Vision XV: Algorithms, Techniques,Active Vision, and Materials Handling
David P. Casasent, Editor(s)

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