Type of Document Master's Thesis Author Schlegel, Nikolai URN etd-283421290973280 Title Autonomous Vehicle Control using Image Processing Degree Master of Science Department Electrical and Computer Engineering Advisory Committee
Advisor Name Title Kachroo, Pushkin Nunnally, Charles E. Bay, John S. Committee Chair Keywords
- autonomous vehicle
- lateral control
- image processing
- telerobotic operation
- H-Infinity control
Date of Defense 1997-01-27 Availability unrestricted AbstractThis thesis describes the design of an inexpensive autonomous vehicle system
using a small scaled model vehicle. The system is capable of operating in
two different modes: telerobotic manual mode and automated driving mode.
In telerobotic manual mode, the model vehicle is controlled by a human
driver at a stationary remote control station with full-scale steering wheel
and gas pedal. The vehicle can either be an unmodified toy remote-control
car or a vehicle equipped with wireless radio modem for communication and
microcontroller for speed control. In both cases the vehicle also carries a
video camera capable of transmitting video images back to the remote control
station where they are displayed on a monitor.
In automated driving mode, the vehicle's lateral movement is controlled by a
lateral control algorithm. The objective of this algorithm is to keep the
vehicle in the center of a road. Position and orientation of the vehicle are
determined by an image processing algorithm identifying a white middle
marker on the road. Two different algorithm for image processing have been
designed: one based on the pixel intensity profile and the other on
vanishing points in the image plane. For the control algorithm itself, two
designs are introduced as well: a simple classical P-control and a control
scheme based on H-Infinity.
The design and testing of this autonomous vehicle system are performed
in the Flexible Low-cost Automated Scaled Highway (FLASH) laboratory
at Virginia Tech.
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