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Proceedings Paper

Software design for an autonomous ground vehicle for the 13th Annual Intelligent Ground Vehicle Competition
Author(s): Tim Roberts; Daniel Barber; Brian C. Becker; Fernando Gonzalez
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Paper Abstract

This paper presents the vision and path planning software design of a totally autonomous vehicle built to compete in the 13th Intelligent Ground Vehicle Competition, IGVC. The vehicle, Calculon, is based on a powered wheelchair and uses a variety of sensors for its navigation and obstacle avoidance including a 3CCD Sony color camera, an outdoor laser range finder, a DGPS, 2 wheel encoders and a solid state compass. The modules forming the core vision system include: filters, color classifier, image segments, and line finder. Our color classifier is based on a modified implementation of an adaptive Gaussian color model similar to those used in some skin detection algorithms. A combination of various image enhancing filters and the color classifier allow for the isolation of possible obstacles within the image. After filtering the image for areas of high brightness and contrast, the line finder performs a Hough Transform to find lines in the image. Our path planning is accomplished using a variety of known and custom algorithms in combination including a modified road map method, a Rapidly Exploring Trees method and a Gaussian Potential Field's method. This paper will present the software design and methods of our autonomous vehicle focusing mainly on the 2 most difficult components, the vision and path planning.

Paper Details

Date Published: 24 October 2005
PDF: 8 pages
Proc. SPIE 6006, Intelligent Robots and Computer Vision XXIII: Algorithms, Techniques, and Active Vision, 60060I (24 October 2005); doi: 10.1117/12.630962
Show Author Affiliations
Tim Roberts, Univ. of Central Florida (United States)
Daniel Barber, Univ. of Central Florida (United States)
Brian C. Becker, Univ. of Central Florida (United States)
Fernando Gonzalez, Univ. of Central Florida (United States)

Published in SPIE Proceedings Vol. 6006:
Intelligent Robots and Computer Vision XXIII: Algorithms, Techniques, and Active Vision
David P. Casasent; Ernest L. Hall; Juha Röning, Editor(s)

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