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Proceedings Paper

A simple approach to a vision-guided unmanned vehicle
Author(s): Christopher Archibald; Evan Millar; Jon D. Anderson; James K. Archibald; Dah-Jye Lee
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Paper Abstract

This paper describes the design and implementation of a vision-guided autonomous vehicle that represented BYU in the 2005 Intelligent Ground Vehicle Competition (IGVC), in which autonomous vehicles navigate a course marked with white lines while avoiding obstacles consisting of orange construction barrels, white buckets and potholes. Our project began in the context of a senior capstone course in which multi-disciplinary teams of five students were responsible for the design, construction, and programming of their own robots. Each team received a computer motherboard, a camera, and a small budget for the purchase of additional hardware, including a chassis and motors. The resource constraints resulted in a simple vision-based design that processes the sequence of images from the single camera to determine motor controls. Color segmentation separates white and orange from each image, and then the segmented image is examined using a 10x10 grid system, effectively creating a low resolution picture for each of the two colors. Depending on its position, each filled grid square influences the selection of an appropriate turn magnitude. Motor commands determined from the white and orange images are then combined to yield the final motion command for video frame. We describe the complete algorithm and the robot hardware and we present results that show the overall effectiveness of our control approach.

Paper Details

Date Published: 24 October 2005
PDF: 11 pages
Proc. SPIE 6006, Intelligent Robots and Computer Vision XXIII: Algorithms, Techniques, and Active Vision, 60060J (24 October 2005); doi: 10.1117/12.632526
Show Author Affiliations
Christopher Archibald, Brigham Young Univ. (United States)
Evan Millar, Brigham Young Univ. (United States)
Jon D. Anderson, Brigham Young Univ. (United States)
James K. Archibald, Brigham Young Univ. (United States)
Dah-Jye Lee, Brigham Young Univ. (United States)


Published in SPIE Proceedings Vol. 6006:
Intelligent Robots and Computer Vision XXIII: Algorithms, Techniques, and Active Vision
David P. Casasent; Ernest L. Hall; Juha Röning, Editor(s)

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