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Proceedings Paper

Steering of an automated vehicle in an unstructured environment
Author(s): Sampath Kanakaraju; Sathish K. Shanmugasundaram; Ramesh Thyagarajan; Ernest L. Hall
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Paper Abstract

The purpose of this paper is to describe a high-level path planning logic, which processes the data from a vision system and an ultrasonic obstacle avoidance system and steers an autonomous mobile robot between obstacles. The test bed was an autonomous root built at University of Cincinnati, and this logic was tested and debugged on this machine. Attempts have already been made to incorporate fuzzy system on a similar robot, and this paper extends them to take advantage of the robot's ZTR capability. Using the integrated vision syste, the vehicle senses its location and orientation. A rotating ultrasonic sensor is used to map the location and size of possible obstacles. With these inputs the fuzzy logic controls the speed and the steering decisions of the robot. With the incorporation of this logic, it has been observed that Bearcat II has been very successful in avoiding obstacles very well. This was achieved in the Ground Robotics Competition conducted by the AUVS in June 1999, where it travelled a distance of 154 feet in a 10ft. wide path ridden with obstacles. This logic proved to be a significant contributing factor in this feat of Bearcat II.

Paper Details

Date Published: 26 August 1999
PDF: 10 pages
Proc. SPIE 3837, Intelligent Robots and Computer Vision XVIII: Algorithms, Techniques, and Active Vision, (26 August 1999); doi: 10.1117/12.360292
Show Author Affiliations
Sampath Kanakaraju, Univ. of Cincinnati (United States)
Sathish K. Shanmugasundaram, Univ. of Cincinnati (United States)
Ramesh Thyagarajan, Univ. of Cincinnati (United States)
Ernest L. Hall, Univ. of Cincinnati (United States)

Published in SPIE Proceedings Vol. 3837:
Intelligent Robots and Computer Vision XVIII: Algorithms, Techniques, and Active Vision
David P. Casasent, Editor(s)

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