Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Improvement of Visual Path Following through Velocity Variation

속도 가변을 통한 영상교시 기반 주행 알고리듬 성능 향상

  • Choi, I-Sak (Seoul National University of Science and Technology) ;
  • Ha, Jong-Eun (Seoul National University of Science and Technology)
  • 최이삭 (서울과학기술대학교 NID 융합 대학원) ;
  • 하종은 (서울과학기술대학교 자동차공학과)
  • Received : 2010.12.23
  • Accepted : 2011.01.24
  • Published : 2011.04.01
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Abstract

This paper deals with the improvement of visual path following through velocity variation according to the coordinate of feature points. Visual path follow first teaches driving path by selecting milestone images then follows the route by comparing the milestone image and current image. We follow the visual path following algorithm of Chen and Birchfield [8]. In [8], they use fixed translational and rotational velocity. We propose an algorithm that uses different translational velocity according to the driving condition. Translational velocity is adjusted according to the variation of the coordinate of feature points on image. Experimental results including diverse indoor cases show the feasibility of the proposed algorithm.

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References

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