Autonomous Transportation Vehicle Using Image Processing (Part 2)

Obstacle detection for collision avoidance

Abstract

One of the major challenges in designing autonomous transportation vehicles on farm road is reliable obstacle detection. In this study, HSI values were used for obstacle detection parameter and a smoothing filter, binarize method, clustering were applied for the obstacle detection. A coordinate transformation was used for the distance information detection between the vehicle and the obstacle. As a result of the field test, the developed system could detect obstacles with a 0.4m maximum error at 5.9frame/s.