Abstract
We have proposed an autonomous navigation using fluorescent lamp array on the ceiling as a light house for vehicle motion, and discussed the computer simulation and experimental results of our primary method. As a next step, the vehicle control scheme based on the results of processing fluorescent lamp images using a personal computer is studied for more flexible navigation.
To realize the vehicle motion at a practical speed, the effect of image processing time on the deviation of vehicle track is examined by using computer simulations. As a result, it is possible to control the vehicle smoothly if the processing time is within 0.4 seconds.
A new method using the circumscribed rectangle of the fluorescent lamp image is adopted to detect the position and angle of the fluorescent lamp image on the screen. By this method, the position and angle information can be obtained more rapidly than Hough transformation.
Considering above discussions, an experimental vehicle system is constructed, and it is confirmed that the vehicle can be controlled to move under the fluorescent lamp array on the ceiling at a practical speed.
