Vision-Based Vehicle Navigation Using Ceiling Fluorescent Lamps

Abstract

In this paper, an autonomous navigation based on a TV vision system on board a vehicle is proposed. Our method is to use fluorescent lamp array on the ceiling as a lighthouse for vehicle motion.
First, the experimental study of a vehicle control based on information from photo-sensors, set up on a TV screen, is worked out using a practical autonomous vehicle. As a result of this experiment, the validity of our method is confirmed. Next, numerical simulations for this control scheme are carred out in detail. Then, the contour map about the initial position on the floor which gives the limit of controllable or uncontrollable region is indicated.