2002 Volume 64 Issue 6 Pages 104-110
This paper describes intersection guidance marker (IGM) recognition and intersection approaching system for autonomous transportation vehicles (ATVs). The IGM recognition method covers with HSI transform, binarization, Hough transformation and coordinate transformation in order to measure the distance between the ATV and the intersection by image processing. The approaching system involves two rotary encoders, which are installed on both sides of crawler for measuring the position and orientation of the ATV. The IGM recognition method can detect intersection with 0.45m maximum error and image processing speed is 8.64Hz. The intersection approach system works with rms 0.063m, 0.33m maximum bias off the desired path, rms 0.096m and maximum error of travel direction was 0.54m.
