A Research on Autonomous Vehicle Navigation using Vision System

本课题涉及车辆导航。我们提出了利用顶棚荧光灯作为灯塔的新导航方法。荧光灯在这种导航中有两个优点：一是容易被检测，二是大多数工厂都存在。特别是在相机光圈较窄的情况下，由于荧光灯与背景的高对比度，很容易从相机图像上的一般场景中提取出来，这是荧光灯的显著优点。该导航系统由摄像头、个人计算机、移动机构及其接口组成。并非所有单位都是特殊单位。本工作分为以下两部分导航仪荧光灯被用作车辆导航的导航仪。该系统结构简单，价格低廉，可实现稳定运动。在实际工厂运行的系统上，易于更换。通过对这种快速灯具检测方法的探讨，实现了实际速度下的直线运动和转弯运动。对工厂的整体运动进行了仿真。获得1996年系统控制与信息学会论文奖。2车辆位置方位的测量与控制方法研究了车辆位置方位的测量方法和控制方法，实现了车辆更加灵活、精确的运动。我们的飞行器没有伺服控制系统。因此，采用卡尔曼滤波估计转向角。这种过滤系统可以提供平滑的移动。此外，为了适应各种情况，对柔性位置测控系统进行了研究。实验结果表明，该系统对未知领域具有较高的适应性。该研究对一般的位置测量研究具有一定的指导意义。

This work is concerned with the vehicle navigation.We proposed the new navigation method which uses the ceiling fluorescent lamp as a lighthouse. The fluorescent lamp has two merits on this navigation as follows : it is easy to be detected and exists in most factories. Especially, it is the remarkable merit that the fluorescent lamp is easy to be extracted from the general scene on the camera image when the camera iris is narrow because of its high contrast to background. This navigation system is composed of the camera, the personal computer, the moving mechanism and their interfaces. All units are not special ones.This work is divided into next two parts.1 Guided navigationFluorescent lamp are used as a guide on vehicle navigation. This system is simple, cheap and, can realize the stable moving. It is easy to be replaced on the system which works in practical factories. After this quick lamps detection method was discussed, we realized the straight and turning motion in the practical speed. The simulation of the overall motions in the factory was offered. We received the 1996 paper award of the society of System Control and Information.2 Measurement of position and orientation of vehicle and control methodWe studied the method of measuring the position and orientation of the vehicle and the control method to realize the more flexible and precision moving. Our vehicle has no serve control system. So, the Kalman filter was used to estimate the steering angle. This filter system can offer the smooth moving. Furthermore, in order to adopt on the various circumstances, the flexible position measurement and control system were studied. It was confirmed that this system had the high adaptability in the unknown field. This study is useful on the general position measurement researches.