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Autonomous Traveling of Unmanned Golf-Car using GPS and Vision system  

Jung, Byeong Mook (Department of Mechanical Engineering, Yeungnam Univ.)
Yeo, In-Joo (R&D Department, HWASHIN)
Cho, Che-Seung (Intelligent Robot Researcher Team, Daegu Machinery Institute of Components & Materials Foundation)
Publication Information
Journal of the Korean Society for Precision Engineering / v.26, no.6, 2009 , pp. 74-80 More about this Journal
Abstract
Path tracking of unmanned vehicle is a basis of autonomous driving and navigation. For the path tracking, it is very important to find the exact position of a vehicle. GPS is used to get the position of vehicle and a direction sensor and a velocity sensor is used to compensate the position error of GPS. To detect path lines in a road image, the bird's eye view transform is employed, which makes it easy to design a lateral control algorithm simply than from the perspective view of image. Because the driving speed of vehicle should be decreased at a curved lane and crossroads, so we suggest the speed control algorithm used GPS and image data. The control algorithm is simulated and experimented from the basis of expert driver's knowledge data. In the experiments, the results show that bird's eye view transform are good for the steering control and a speed control algorithm also shows a stability in real driving.
Keywords
Unmanned Vehicle; Path Tracking; Bird's Eye view Transform; GPS (Global Positioning System); Lane Tracking;
Citations & Related Records
Times Cited By KSCI : 7  (Citation Analysis)
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