Knowledge-based navigation for autonomous road vehicles

Murat EKİNCİ, (Karadeniz Teknik Üniversitesi, Mühendislik Fakültesi, Bilgisayar Mühendisliği Bölümü, Trabzon, Türkiye)
Franches W.J. GIBBS, (Department, of Computer Science, Univercity of Bristol Bristol BS8 1UB, UK)
Barry T. THOMAS (Department, of Computer Science, Univercity of Bristol Bristol BS8 1UB, UK)
Turkish Journal of Electrical Engineering and Computer Sciences
2 0
Yıl: 2000 Cilt: 8 Sayı: 1 Sayfa Aralığı: 1 - 29 Metin Dili: İngilizce İndeks Tarihi: 29-07-2022

Knowledge-based navigation for autonomous road vehicles

Öz:
This paper presents a computer vision system for an autonomous road vehicle (ARV) that is capable of negotiating complex road networks including road junctions in real time. The ultimate aim of the system is to enable the vehicle to drive automatically along a given complex road network whose geometric description is known. This computer vision system includes three main techniques which are necessary for an ARV: a) road following, b) road junction detection, c) manoeuvring at the road junction. The road following algorithm presents a method of executing a number of algorithms using different methods concurrently, fusing their outputs together into an accurate road model. A model-based object approach is used for detecting the road junctions in images. In this approach two sequence processes are performed. They are to find a boundary between the candidate road junction surface and the current road surface, and to locate the road junction surface. A multi-camera vision-based re-orientation mode was used to guide the ARV during the manoeuvring process at the road junction. In the re-orientation mode, the position of the ARV with respect to the road junction is determined by the "bootstrap" process. The results are presented for real road stretches and intersection images and performed on the experimental autonomous road vehicle in real time.
Anahtar Kelime:

Konular: Mühendislik, Elektrik ve Elektronik
Belge Türü: Makale Makale Türü: Araştırma Makalesi Erişim Türü: Erişime Açık
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APA EKINCI M, GIBBS F, THOMAS B (2000). Knowledge-based navigation for autonomous road vehicles. , 1 - 29.
Chicago EKINCI MURAT,GIBBS Franches W.J.,THOMAS Barry T. Knowledge-based navigation for autonomous road vehicles. (2000): 1 - 29.
MLA EKINCI MURAT,GIBBS Franches W.J.,THOMAS Barry T. Knowledge-based navigation for autonomous road vehicles. , 2000, ss.1 - 29.
AMA EKINCI M,GIBBS F,THOMAS B Knowledge-based navigation for autonomous road vehicles. . 2000; 1 - 29.
Vancouver EKINCI M,GIBBS F,THOMAS B Knowledge-based navigation for autonomous road vehicles. . 2000; 1 - 29.
IEEE EKINCI M,GIBBS F,THOMAS B "Knowledge-based navigation for autonomous road vehicles." , ss.1 - 29, 2000.
ISNAD EKINCI, MURAT vd. "Knowledge-based navigation for autonomous road vehicles". (2000), 1-29.
APA EKINCI M, GIBBS F, THOMAS B (2000). Knowledge-based navigation for autonomous road vehicles. Turkish Journal of Electrical Engineering and Computer Sciences, 8(1), 1 - 29.
Chicago EKINCI MURAT,GIBBS Franches W.J.,THOMAS Barry T. Knowledge-based navigation for autonomous road vehicles. Turkish Journal of Electrical Engineering and Computer Sciences 8, no.1 (2000): 1 - 29.
MLA EKINCI MURAT,GIBBS Franches W.J.,THOMAS Barry T. Knowledge-based navigation for autonomous road vehicles. Turkish Journal of Electrical Engineering and Computer Sciences, vol.8, no.1, 2000, ss.1 - 29.
AMA EKINCI M,GIBBS F,THOMAS B Knowledge-based navigation for autonomous road vehicles. Turkish Journal of Electrical Engineering and Computer Sciences. 2000; 8(1): 1 - 29.
Vancouver EKINCI M,GIBBS F,THOMAS B Knowledge-based navigation for autonomous road vehicles. Turkish Journal of Electrical Engineering and Computer Sciences. 2000; 8(1): 1 - 29.
IEEE EKINCI M,GIBBS F,THOMAS B "Knowledge-based navigation for autonomous road vehicles." Turkish Journal of Electrical Engineering and Computer Sciences, 8, ss.1 - 29, 2000.
ISNAD EKINCI, MURAT vd. "Knowledge-based navigation for autonomous road vehicles". Turkish Journal of Electrical Engineering and Computer Sciences 8/1 (2000), 1-29.
Sayfa Oluşturulma Tarihi
22-04-2024 11:32

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