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081 An improved plan-view method for autonomous vehicle guidance
164
Abstracts
autonomous non-holonomic land vehicle with two driving wheels and two casters. This characteristic, that constrains the fast curvature changes in the displacement, is the main goal in this research work. As a solution to the problem of continuous curvature trajectory, a series of third-degree Bezier's polynomials is proposed.
080 Shape Classification for Traffic Sign Recognition B. Besserer, S. Estable, B. Ulmer, D. Reichardt, pp 483-488 A traffic sign detection and recognition approach is Sented in this paper. This project is a part of the pean research project PROMETHEUS (PROgraM for a European Traffic with Highest Efficiency and Unprecedented Safety), being developed by Daimler Benz in collaboration with various university labs. Intensity segmentation, shape and traffic sign recognition have been joined together in a processing chain. Uncertainty handling, combination and propagation using DempsterShafer rules form the heart of the shape-recognition method. Multiple knowledge sources extract information from the segmented image and increase knowledge about undefined shapes. Recognized shapes are transmitted to a high-level processing stage which performs model-based traffic sign recognition.
081 An Improved Plan-View Method for Autonomous Vehicle Guidance Xlan Chert, E.L. Dagless, Shu-Jun Zhang, B.T. Thomas, pp 489-494 Methods are presented in this paper to improve a plan-view algorithm for finding roads in images used in autonomous vehicle navigation. The boundary of coordinate transformation is divided into a number of linking trapeziums to follow a bending road, and a fast algorithm is developed to generate a transforming grid in real-time. A new method of edge detection carried out on a texture image yielded from the plan-view image gives better performance than that of the usual edge detection directly on the grey-level image. Second-order polynomials are used to approximate the road edges, combined with the flexible boundary, improving the capability to follow a bending road.
082 Ultrasonics Arrays for Automatic Vehicle Guidance C. Wykes, P. Webb, pp 495-498 An ultrasonic system which can measure the range and bearing of targets within an area of lm 2 in a processing time of 10ms with a range resolution of 1.5ram and a bearing resolution of 1" has been developed. The operating range of the system can be increased using lowerfrequency arrays. The systems have a range of potential applications in the guidance of automatic vehicles for collision avoidance, target location and navigation.
083 Ultrasonic Navigation and Guidance for Autonomous Vehicles In Dynamic and Unstructured Environment P.K. Slnha, K. Mutib, F.B. Zhou, pp 499.502 The use of ultrasonic sensor arrays in range-finding is now established in robot/AGV guidance and navigation. The Polaroid 6500 series is a self-eontained sensor system which provides distance measurement in the form of digital data. Although there are important hardware design issues, there is a need to provide a unified framework for the design of an integrated sensor-guidance system in applications where moving objects are likely. This paper presents a methodology for the design/development of such
a system, with particular applications in the navigation of mobile robots in a dynamic and unstructured environment. The primary design targets are scalability, sensitivity to moving objects (obstacles) and noise immunity.
084 A Microwave Radar Sensor for the Control of Autonomous Vehicles M.C.B. Smith, pp 503-505 This paper describes work that is being carried out to develop a miniature microwave radar sensor and sisnal processing system for use on autonomous vehicles. The sensor is intended for use in collision avoidance, proximity detection, medium resolution vision sensing, navigation and applications requiring continuous real-time feedback control. The system is capable of measuring range, relative velocity and direction of relative motion; thus it will operate while the sensor and/or target obstacle is moving. By using a high-gain aerial, a sufficiently fine resolution is obtained to enable a simple 3-D vision system to be realised.
085 Braided Pneumatic Muscle Actuators D.G. Caidwell, A. Razak, M. Goodwln, pp 507-512 This paper considers the requirements for a flexible actuation system that can be applied to untethered robots. Using organic muscle specifications as a base, mathematical models of the drive forces and operating principles in a braided pneumatic actuator are studied. Experimental testing of the braided muscle shows that it has the traditional benefits of pneumatic cylinders, combined with power/weight outputs of over 1.SkW/kg at 200kPa. In addition, reductions in the sponginess associated with air have made position control possible. This potential for controlled motion is demonstr~_t_~ on a jointed finger powered by two pairs of antagonistic muscles.
086 Robot for Finishing Voluntarily Oriented Surfaces V. Krasnoslobodsev, pp 513-518 The paper deals with mobile robots to be employed for processing smooth voluntary oriented surfaces, including those of vertical and ceiling type. The robots cling to the working surfaces and move along them by the use of a vacuum. In this paper continuous and step-by-step principles of the robot movement are discussed. Various aspects of vacuum application to attach the robots to smooth and also to damaged surfaces are analyzed. Robot orientation systems incorporating pendulum pick-ups of elecu'omechanical and vacuum types are examined, as well as the robot control systems of cable and remote (infrared) types.
087 Reactions to Nonholonomic Constraints C.D. Mladenova, pp 519-524 On the base of Hamers motion equations in pseudocoordinates and the constraint free principle, the equations for reaction forces of mechanical systems with nonholonomic constraints, such as wheeled vehicles and mobile robots, are formulated in the paper. It is proved that the full system of dynamic and reaction equauous is reduced and simplified, in comparison with the standard equations of motion formed by indeterminate multipliers together with the constraint equations. The theoretical approach for reaction derivation suggested in the paper is complemented by a new control law for nonholonomic constraint systems.
Abstracts
autonomous non-holonomic land vehicle with two driving wheels and two casters. This characteristic, that constrains the fast curvature changes in the displacement, is the main goal in this research work. As a solution to the problem of continuous curvature trajectory, a series of third-degree Bezier's polynomials is proposed.
080 Shape Classification for Traffic Sign Recognition B. Besserer, S. Estable, B. Ulmer, D. Reichardt, pp 483-488 A traffic sign detection and recognition approach is Sented in this paper. This project is a part of the pean research project PROMETHEUS (PROgraM for a European Traffic with Highest Efficiency and Unprecedented Safety), being developed by Daimler Benz in collaboration with various university labs. Intensity segmentation, shape and traffic sign recognition have been joined together in a processing chain. Uncertainty handling, combination and propagation using DempsterShafer rules form the heart of the shape-recognition method. Multiple knowledge sources extract information from the segmented image and increase knowledge about undefined shapes. Recognized shapes are transmitted to a high-level processing stage which performs model-based traffic sign recognition.
081 An Improved Plan-View Method for Autonomous Vehicle Guidance Xlan Chert, E.L. Dagless, Shu-Jun Zhang, B.T. Thomas, pp 489-494 Methods are presented in this paper to improve a plan-view algorithm for finding roads in images used in autonomous vehicle navigation. The boundary of coordinate transformation is divided into a number of linking trapeziums to follow a bending road, and a fast algorithm is developed to generate a transforming grid in real-time. A new method of edge detection carried out on a texture image yielded from the plan-view image gives better performance than that of the usual edge detection directly on the grey-level image. Second-order polynomials are used to approximate the road edges, combined with the flexible boundary, improving the capability to follow a bending road.
082 Ultrasonics Arrays for Automatic Vehicle Guidance C. Wykes, P. Webb, pp 495-498 An ultrasonic system which can measure the range and bearing of targets within an area of lm 2 in a processing time of 10ms with a range resolution of 1.5ram and a bearing resolution of 1" has been developed. The operating range of the system can be increased using lowerfrequency arrays. The systems have a range of potential applications in the guidance of automatic vehicles for collision avoidance, target location and navigation.
083 Ultrasonic Navigation and Guidance for Autonomous Vehicles In Dynamic and Unstructured Environment P.K. Slnha, K. Mutib, F.B. Zhou, pp 499.502 The use of ultrasonic sensor arrays in range-finding is now established in robot/AGV guidance and navigation. The Polaroid 6500 series is a self-eontained sensor system which provides distance measurement in the form of digital data. Although there are important hardware design issues, there is a need to provide a unified framework for the design of an integrated sensor-guidance system in applications where moving objects are likely. This paper presents a methodology for the design/development of such
a system, with particular applications in the navigation of mobile robots in a dynamic and unstructured environment. The primary design targets are scalability, sensitivity to moving objects (obstacles) and noise immunity.
084 A Microwave Radar Sensor for the Control of Autonomous Vehicles M.C.B. Smith, pp 503-505 This paper describes work that is being carried out to develop a miniature microwave radar sensor and sisnal processing system for use on autonomous vehicles. The sensor is intended for use in collision avoidance, proximity detection, medium resolution vision sensing, navigation and applications requiring continuous real-time feedback control. The system is capable of measuring range, relative velocity and direction of relative motion; thus it will operate while the sensor and/or target obstacle is moving. By using a high-gain aerial, a sufficiently fine resolution is obtained to enable a simple 3-D vision system to be realised.
085 Braided Pneumatic Muscle Actuators D.G. Caidwell, A. Razak, M. Goodwln, pp 507-512 This paper considers the requirements for a flexible actuation system that can be applied to untethered robots. Using organic muscle specifications as a base, mathematical models of the drive forces and operating principles in a braided pneumatic actuator are studied. Experimental testing of the braided muscle shows that it has the traditional benefits of pneumatic cylinders, combined with power/weight outputs of over 1.SkW/kg at 200kPa. In addition, reductions in the sponginess associated with air have made position control possible. This potential for controlled motion is demonstr~_t_~ on a jointed finger powered by two pairs of antagonistic muscles.
086 Robot for Finishing Voluntarily Oriented Surfaces V. Krasnoslobodsev, pp 513-518 The paper deals with mobile robots to be employed for processing smooth voluntary oriented surfaces, including those of vertical and ceiling type. The robots cling to the working surfaces and move along them by the use of a vacuum. In this paper continuous and step-by-step principles of the robot movement are discussed. Various aspects of vacuum application to attach the robots to smooth and also to damaged surfaces are analyzed. Robot orientation systems incorporating pendulum pick-ups of elecu'omechanical and vacuum types are examined, as well as the robot control systems of cable and remote (infrared) types.
087 Reactions to Nonholonomic Constraints C.D. Mladenova, pp 519-524 On the base of Hamers motion equations in pseudocoordinates and the constraint free principle, the equations for reaction forces of mechanical systems with nonholonomic constraints, such as wheeled vehicles and mobile robots, are formulated in the paper. It is proved that the full system of dynamic and reaction equauous is reduced and simplified, in comparison with the standard equations of motion formed by indeterminate multipliers together with the constraint equations. The theoretical approach for reaction derivation suggested in the paper is complemented by a new control law for nonholonomic constraint systems.