scholarly journals Grouping dominant orientations for ill-structured road following

Author(s):  
C. Rasmussen
Keyword(s):  
Author(s):  
M. Turk ◽  
D. Morgenthaler ◽  
K. Gremban ◽  
M. Marra
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Author(s):  
J. Lowrie ◽  
R. Douglass
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2010 ◽  
Vol 2010 ◽  
pp. 1-20 ◽  
Author(s):  
Yi Fu ◽  
Howard Li ◽  
Mary Kaye

Autonomous road following is one of the major goals in intelligent vehicle applications. The development of an autonomous road following embedded system for intelligent vehicles is the focus of this paper. A fuzzy logic controller (FLC) is designed for vision-based autonomous road following. The stability analysis of this control system is addressed. Lyapunov's direct method is utilized to formulate a class of control laws that guarantee the convergence of the steering error. Certain requirements for the control laws are presented for designers to choose a suitable rule base for the fuzzy controller in order to make the system stable. Stability of the proposed fuzzy controller is guaranteed theoretically and also demonstrated by simulation studies and experiments. Simulations using the model of the four degree of freedom nonholonomic robotic vehicle are conducted to investigate the performance of the fuzzy controller. The proposed fuzzy controller can achieve the desired steering angle and make the robotic vehicle follow the road successfully. Experiments show that the developed intelligent vehicle is able to follow a mocked road autonomously.


eLife ◽  
2017 ◽  
Vol 6 ◽  
Author(s):  
Ariana Strandburg-Peshkin ◽  
Damien R Farine ◽  
Margaret C Crofoot ◽  
Iain D Couzin

For group-living animals traveling through heterogeneous landscapes, collective movement can be influenced by both habitat structure and social interactions. Yet research in collective behavior has largely neglected habitat influences on movement. Here we integrate simultaneous, high-resolution, tracking of wild baboons within a troop with a 3-dimensional reconstruction of their habitat to identify key drivers of baboon movement. A previously unexplored social influence – baboons’ preference for locations that other troop members have recently traversed – is the most important predictor of individual movement decisions. Habitat is shown to influence movement over multiple spatial scales, from long-range attraction and repulsion from the troop’s sleeping site, to relatively local influences including road-following and a short-range avoidance of dense vegetation. Scaling to the collective level reveals a clear association between habitat features and the emergent structure of the group, highlighting the importance of habitat heterogeneity in shaping group coordination.


Author(s):  
R. Wallace ◽  
K. Matsuzaki ◽  
Y. Goto ◽  
J. Crisman ◽  
J. Webb ◽  
...  
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2018 ◽  
Vol 8 (9) ◽  
pp. 1635 ◽  
Author(s):  
Haojie Zhang ◽  
David Hernandez ◽  
Zhibao Su ◽  
Bo Su

Navigation is necessary for autonomous mobile robots that need to track the roads in outdoor environments. These functions could be achieved by fusing data from costly sensors, such as GPS/IMU, lasers and cameras. In this paper, we propose a novel method for road detection and road following without prior knowledge, which is more suitable with small single lane roads. The proposed system consists of a road detection system and road tracking system. A color-based road detector and a texture line detector are designed separately and fused to track the target in the road detection system. The top middle area of the road detection result is regarded as the road-following target and is delivered to the road tracking system for the robot. The road tracking system maps the tracking position in camera coordinates to position in world coordinates, which is used to calculate the control commands by the traditional tracking controllers. The robustness of the system is enhanced with the development of an Unscented Kalman Filter (UKF). The UKF estimates the best road borders from the measurement and presents a smooth road transition between frame to frame, especially in situations such as occlusion or discontinuous roads. The system is tested to achieve a recognition rate of about 98.7% under regular illumination conditions and with minimal road-following error within a variety of environments under various lighting conditions.


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