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1997 Fiscal Year Final Research Report Summary

A Research on Autonomous Vehicle Navigation using Vision System

Research Project

Project/Area Number 07650487
Research Category

Grant-in-Aid for Scientific Research (C)

Allocation TypeSingle-year Grants
Section一般
Research Field 計測・制御工学
Research InstitutionKYOTO UNIVERSITY

Principal Investigator

HASHIMOTO Takeshi  Kyoto University, Engineering, Instructor, 工学研究科, 助手 (60228418)

Co-Investigator(Kenkyū-buntansha) ASO Takehiko  Kyoto University, Engineering, A.Professor, 工学研究科, 助教授 (10026255)
Project Period (FY) 1995 – 1997
KeywordsMobile Robot / Image Measurement / Ceiling Fluorescent Lamps / Vehicle / Camera / Navigation / Position Measurement
Research Abstract

This work is concerned with the vehicle navigation.
We proposed the new navigation method which uses the ceiling fluorescent lamp as a lighthouse. The fluorescent lamp has two merits on this navigation as follows : it is easy to be detected and exists in most factories. Especially, it is the remarkable merit that the fluorescent lamp is easy to be extracted from the general scene on the camera image when the camera iris is narrow because of its high contrast to background. This navigation system is composed of the camera, the personal computer, the moving mechanism and their interfaces. All units are not special ones.
This work is divided into next two parts.
1 Guided navigation
Fluorescent lamp are used as a guide on vehicle navigation. This system is simple, cheap and, can realize the stable moving. It is easy to be replaced on the system which works in practical factories. After this quick lamps detection method was discussed, we realized the straight and turning motion in the practical speed. The simulation of the overall motions in the factory was offered. We received the 1996 paper award of the society of System Control and Information.
2 Measurement of position and orientation of vehicle and control method
We studied the method of measuring the position and orientation of the vehicle and the control method to realize the more flexible and precision moving. Our vehicle has no serve control system. So, the Kalman filter was used to estimate the steering angle. This filter system can offer the smooth moving. Furthermore, in order to adopt on the various circumstances, the flexible position measurement and control system were studied. It was confirmed that this system had the high adaptability in the unknown field. This study is useful on the general position measurement researches.

  • Research Products

    (12 results)

All Other

All Publications (12 results)

  • [Publications] 橋本 岳: "天井蛍光灯を用いた画像処理による移動体の実用速度での自律走行" 計測自動制御学会論文集. 31・10. 1672-1677 (1995)

    • Description
      「研究成果報告書概要(和文)」より
  • [Publications] 橋本 岳: "天井蛍光灯を利用した移動体の転回制御" システム制御情報学会論文誌. 8・10. 557-561 (1995)

    • Description
      「研究成果報告書概要(和文)」より
  • [Publications] 山本 茂広: "天井蛍光灯の角度情報を利用した移動体の走行制御" システム制御情報学会論文誌. 8・9. 474-481 (1995)

    • Description
      「研究成果報告書概要(和文)」より
  • [Publications] Takeshi Hashimoto: "MEASUREMENT OF POSITION AND ORIENTATION OF THE AUTONOMOUS VEHICLE USING VARIOUS TYPES OF FLUORESCENT LAMPS ON THE CEILING" Proceeding of the Japan USA Symposium on Flexible Automation. I0394A-1996. 589-592 (1996)

    • Description
      「研究成果報告書概要(和文)」より
  • [Publications] 山本 茂広: "Kalmanフィルタを用いた操舵角推定による移動体の走行制御法" システム制御情報学会論文誌. 9・11. 503-510 (1996)

    • Description
      「研究成果報告書概要(和文)」より
  • [Publications] 山本 茂広: "移動体自律走行のための基準天井蛍光灯の位置計測" システム制御情報学会論文誌. 10・8. 430-439 (1997)

    • Description
      「研究成果報告書概要(和文)」より
  • [Publications] Takeshi Hashimoto: "Vision-Based Vehicle Navigation Using Ceiling Fluorescent Lamps at a Practical Speed" Transactions of SICE. Vol.31, No.10. 1672-1677 (1995)

    • Description
      「研究成果報告書概要(欧文)」より
  • [Publications] Takeshi Hashimoto: "Turning Control of an Autonomous Vehicle Using Fluorescent Lamp Arrays on the Ceiling" Transactions of The Institute of Systems, Control and Information Engineers. Vol.8, No.10. 557-561 (1995)

    • Description
      「研究成果報告書概要(欧文)」より
  • [Publications] Shigehiro Yamamoto: "Orientation Control of an Autonomous Vehicle by Means of Angular Information from Fluorescent Lamps" Transactions of The Institute of Systems, Control and Information Engineers. Vol.8, No.9. 474-481 (1995)

    • Description
      「研究成果報告書概要(欧文)」より
  • [Publications] Takeshi Hashimoto: "MEASUREMENT OF POSITION AND ORIENTATION OF THE AUTONOMOUS VEHICLE USING VARIOUS TYPES OF FLUORESCENT LAMPS ON THE CEILING" Proceedings of the Japan USA Symposium on Flexible Automation. I0394A-1996. 589-592 (1996)

    • Description
      「研究成果報告書概要(欧文)」より
  • [Publications] Shigehiro Yamamoto: "A Control Method of an Automatice Guided Vehicle by Estimating the Steering Angle Using Kalman Filter" Transactions of The Institute of Systems, Control and Information Engineers. Vol.9, No.11. 503-510 (1996)

    • Description
      「研究成果報告書概要(欧文)」より
  • [Publications] Shigehiro Yamamoto: "Position Measurement of Referece Fluorescent Lamps on the Ceiling for Autonomous Vehicle Navigation" Transactions of The Institute of Systems, Control and Information Engineers. Vol.10, No.8. 430-439 (1997)

    • Description
      「研究成果報告書概要(欧文)」より

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Published: 1999-03-16  

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