New vision system and navigation algorithm for an autonomous ground vehicle

Hokchhay Tann; Bicky Shakya; Alex C. Merchen; Benjamin C. Williams; Abhishek Khanal; Jiajia Zhao; David J. Ahlgren

doi:10.1117/12.2045520

3 February 2014 New vision system and navigation algorithm for an autonomous ground vehicle

Hokchhay Tann, Bicky Shakya, Alex C. Merchen, Benjamin C. Williams, Abhishek Khanal, Jiajia Zhao, David J. Ahlgren

Proceedings Volume 9025, Intelligent Robots and Computer Vision XXXI: Algorithms and Techniques; 90250T (2014) https://doi.org/10.1117/12.2045520
Event: IS&T/SPIE Electronic Imaging, 2014, San Francisco, California, United States

Abstract

Improvements were made to the intelligence algorithms of an autonomously operating ground vehicle, Q, which competed in the 2013 Intelligent Ground Vehicle Competition (IGVC). The IGVC required the vehicle to first navigate between two white lines on a grassy obstacle course, then pass through eight GPS waypoints, and pass through a final obstacle field. Modifications to Q included a new vision system with a more effective image processing algorithm for white line extraction. The path-planning algorithm adopted the vision system, creating smoother, more reliable navigation. With these improvements, Q successfully completed the basic autonomous navigation challenge, finishing tenth out of over 50 teams.

Citation Download Citation

Hokchhay Tann, Bicky Shakya, Alex C. Merchen, Benjamin C. Williams, Abhishek Khanal, Jiajia Zhao, and David J. Ahlgren "New vision system and navigation algorithm for an autonomous ground vehicle", Proc. SPIE 9025, Intelligent Robots and Computer Vision XXXI: Algorithms and Techniques, 90250T (3 February 2014); https://doi.org/10.1117/12.2045520

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