A simple approach to a vision-guided unmanned vehicle

Christopher Archibald; Evan Millar; Jon D. Anderson; James K. Archibald; Dah-Jye Lee

doi:10.1117/12.632526

24 October 2005 A simple approach to a vision-guided unmanned vehicle

Christopher Archibald, Evan Millar, Jon D. Anderson, James K. Archibald, Dah-Jye Lee

Proceedings Volume 6006, Intelligent Robots and Computer Vision XXIII: Algorithms, Techniques, and Active Vision; 60060J (2005) https://doi.org/10.1117/12.632526
Event: Optics East 2005, 2005, Boston, MA, United States

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.

Citation Download Citation

Christopher Archibald, Evan Millar, Jon D. Anderson, James K. Archibald, and Dah-Jye Lee "A simple approach to a vision-guided unmanned vehicle", Proc. SPIE 6006, Intelligent Robots and Computer Vision XXIII: Algorithms, Techniques, and Active Vision, 60060J (24 October 2005); https://doi.org/10.1117/12.632526

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