A method of visual servoing for autonomous vehicles

Abstract

This paper describes a control method for autonomous vehicles using visual servoing. For controlling an autonomous vehicle by visual servoing, marks for autonomous running, namely landmarks are necessary. In ordinary studies, the landmarks are specified by an operator at the teaching step, which is carried out before autonomous running. This paper describes a method of adapting production systems for planning the use of landmarks for automating the teaching operations and improving the robustness of autonomous running. By its production system, anyone can perform the teaching operations without an expert on visual servoing and the vehicle can adapt itself to disturbances while running autonomously. This paper describes a method of visual servoing using multiple landmarks in a single image in order to navigate a vehicle along a taught path precisely.