Document Type
Conference Proceeding
Publication Date
1997
Publication Title
IEEE Conference on Intelligent Transportation Systems
Publisher
Institute of Electrical and Electronics Engineers
First page number:
1022
Last page number:
1027
Abstract
This paper presents a way to design a lateral controller for an automated vehicle using information gained through image processing with the control objective being to stay on a desired path. Two possible ways to obtain the information necessary for lateral control by image processing are presented, one based on pixel intensity summation and the other on vanishing point calculations. The paper also describes two algorithms for the actual lateral control, one based on classical control theory and the other on modern H∞ control. The resulting control algorithms were implemented on a scaled autonomous vehicle system.
Keywords
Automated guided vehicle systems; Control theory; H [infinity symbol] control; Image processing
Repository Citation
Schlegel, N.,
Kachroo, P.,
Ball, J. A.,
Bay, J. S.
(1997).
Image Processing Based Control for Scaled Automated Vehicles.
IEEE Conference on Intelligent Transportation Systems
1022-1027.
Institute of Electrical and Electronics Engineers.
https://digitalscholarship.unlv.edu/ece_fac_articles/79
Comments
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