基于视觉的室内自动驾驶车辆通道导航多点传感

2017 International Conference on Electrical Engineering and Computer Science (ICECOS) Pub Date : 2017-08-01 DOI:10.1109/ICECOS.2017.8167168

D. Purwanto, M. Rivai, Hendawan Soebhakti

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引用次数: 1

摘要

自动驾驶室内车辆(AIV)被用于各种目的，因此它可以减少人类的工作量。本研究的目的是开发一种基于视觉的多点传感的无人机走廊导航系统。利用地板和走廊区域的多点传感技术检测无障碍区域并估计AIV的方向。在基于模糊推理系统的导航算法中，利用区域检测和方向估计作为输入信息来控制AIV的运动。实验结果表明，AIV可以沿走廊运行，相对于走廊中心线的平均误差最大，为6.49%。

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Vision-based multi-point sensing for corridor navigation of Autonomous Indoor Vehicle

Autonomous Indoor Vehicle (AIV) is used for various purposes so it can reduce human workload. This study aims to develop a corridor navigation system for AIV that utilizes vision-based multi point sensing. Multi-point sensing techniques on floor and corridor areas are used to detect obstacle-free areas and estimate the direction of AIV. Area detection and direction estimation are used as input information of navigation algorithm based on a fuzzy inference system to control AIV movement. The results of the experiments show that AIV can run along the corridor with the largest mean error of 6.49% with respect the centerline of the corridor.

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2017 International Conference on Electrical Engineering and Computer Science (ICECOS)

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