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This paper presents vehicle control system for automatic valet parking with infrastructure sensors. First, we describe the automatic valet parking service system. In the service, vehicle moves autonomously based on sensing data generated by infrastructure sensors. Second, we implement vehicle control system for automatic valet parking. We design hardware and software components focusing on minimizing...
With the development of the intelligent transportation systems (ITS), and the widely used technologies of road testing, machine vision etc. in the field of intelligent vehicle, it is possible for the smart car to move automatically in well-structured environments. As for urban complex environments, the researches on unmanned intelligent vehicle are still at the initial stage. For the more complex...
Autonomous steering control is the principal task in the development of an intelligent transportation system. This research paper proposes a novel approach for vision based intelligent control of unmanned vehicles. The paper addresses the problems of accurate and efficient intelligent vehicle control by incorporating a well known evolutionary algorithm cAnt-Miner. The uniqueness of the proposed algorithm...
Distress inspection is an important task in pavement maintenance. Pavement inspection requires tremendous human resources, so many investigators start developing automatic and robotic inspection methods to increase the efficiency and accuracy. However, the systems they developed are applicable for network-level inspection (large areas, long-distance) but too expensive or too big for project-level...
In this paper, we address the hover flight and speed regulation of a quadrotor rotorcraft to perform autonomous navigation. For this purpose, we have developed a vision system which estimates the altitude, the lateral position and the forward speed of the engine during flights. We show that the visual information allows the construction of control strategies for different kinds of flying modes: hover...
In recent years, eco-friendly transportation is becoming more important. Vehicle has to be replaced with electric car to reduce pollution. Under these circumstances, if it can be operated with other public transportation, it will be more efficient transportation in the future. To make it possible, electric unmanned vehicle requires middleware for decision making to driving. Middleware in unmanned...
This paper presents a framework for a fast prototyping of Advanced Driving Assistance Systems (ADAS). The simulation tool SiVIC is proposed for drastically reducing development time and costs of a vehicle system design. RTMaps® is used as a platform for easily encapsulating the system component algorithms and for effortlessly transferring them from a simulation environment to a physical vehicle. With...
Robotic vehicles operating in outdoor environments, commonly referred to as unmanned ground vehicles (UGV), are confronted with unstructured/semi-structured environments that are variable in nature. The geographical location significantly influences the environment's appearance, there are longer term seasonal cycles, as well as immediate affects such as the weather and lighting conditions. This environmental...
In this paper we describe a novel approach to autonomous dirt road following. The algorithm is able to recognize highly curved roads in cluttered color images quite often appearing in offroad scenarios. To cope with large curvatures we apply gaze control and model the road using two different clothoid segments. A Particle Filter incorporating edge and color intensity information is used to simultaneously...
We present a method for motion planning in the presence of moving obstacles that is aimed at dynamic on-road driving scenarios. Planning is performed within a geometric graph that is established by sampling deterministically from a manifold that is obtained by combining configuration space and time. We show that these graphs are acyclic and shortest path algorithms with linear runtime can be employed...
Ruts formed as a result of vehicle traversal on soft ground are used by expert off road drivers because they can improve vehicle safety on turns and slopes thanks to the extra lateral force they provide to the vehicle. In this paper we propose a rut detection and tracking algorithm for autonomous ground vehicles (AGVs) equipped with a laser range finder. The proposed algorithm utilizes an extended...
In this paper a nested PID steering control for lane keeping in vision based autonomous vehicles is designed to perform path following in the case of roads with an uncertain curvature. The control input is the steering wheel angle: it is designed on the basis of the yaw rate, measured by a gyroscope, and the lateral offset, measured by the vision system as the distance between the road centerline...
An increase volume of surveillance video is being collected, by various organizations, which has led to a need for automated video systems in order to reduce reviewing time. Using persistent video gathered from an aircraft overhead, as is done with unmanned aerial systems in Iraq and Afghanistan, we get a birds-eye view of vehicular activity. From these activities we can use a model to detect suspicious...
Road information is useful in many fields. In this paper, a real-time mapping system is presented to acquire the image and determine the geometry of the road. These include designs of platform and instruments, data transmission, processing and archiving. Compare with the traditional platforms, the UAV (Unmanned Aerial Vehicle) platforms offer greater flexibility, shorter response time and is able...
A novel four degree of freedom (four-DOF) motion system for validation platform of driverless vehicle has been proposed. This motion system consists of four primary components-a turn table, a three-DOF parallel manipulator, an active platform and a road surface simulation subsystem-which are described in detail in the following sections. Kinematics solution of this motion system has been derived to...
This paper describes the autonomous ground vehicle developed by researchers at the University of Florida that participated in the 2007 DARPA Urban Challenge. Specifically, this paper introduces LADAR based terrain evaluation algorithms for an urban environments as well as off road. The terrain evaluation algorithm is very important for safe driving at high speed. On the real road, the driver is faced...
The Center for Robot-Assisted Search and Rescue has fielded two AEOS man-portable unmanned surface, a YSI Ecomapper and VideoRay underwater marine vehicle in the aftermath of Hurricanes Wilma (2005, Florida) and Ike (2008, Texas) for littoral structural inspection. By providing above and below waterline inspection of roads, bridges, seawalls, robots could cut the time involved in determining how to...
One of most important issue in research for unmanned ground vehicle is detecting signal lights at crossroads. This paper presents new algorithm for signal light detection. It has high detection rate with real time and fast processing at low price. Experimental environment is built in real vehicle and real urban road, and we shall show that the proposed algorithm realizes driving with reliability in...
The 2007 DARPA Urban Challenge has been a great opportunity to demonstrate the abilities of the Technische Universitat Braunschweig to develop an autonomous vehicle named Caroline and to show its capabilities in urban-like environments. Team CarOLO was among 11 of 89 teams who qualified for the final DARPA Urban Challenge early in the competition. This paper describes the approaches taken by team...
This paper addresses the problem of extracting the road region in different driving environments with dynamic lighting changes. Previous approaches using Gaussian mixture models (GMM) have fixed number of models constructed from sample color data and could not keep models associated with shadows. As a result, although they work in some specific environments, they fail in other environments or in scenes...
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