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Autonomous Vehicle Control using Image Processing

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dc.contributor.authorSchlegel, Nikolaien
dc.contributor.committeechairBay, John S.en
dc.contributor.committeememberKachroo, Pushkinen
dc.contributor.committeememberNunnally, Charles E.en
dc.contributor.departmentElectrical and Computer Engineeringen
dc.date.accessioned2014-03-14T20:51:10Zen
dc.date.adate1997-01-27en
dc.date.available2014-03-14T20:51:10Zen
dc.date.issued1997-01-27en
dc.date.rdate1997-01-27en
dc.date.sdate1998-07-18en
dc.description.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.en
dc.description.degreeMaster of Scienceen
dc.identifier.otheretd-283421290973280en
dc.identifier.sourceurlhttp://scholar.lib.vt.edu/theses/available/etd-283421290973280/en
dc.identifier.urihttp://hdl.handle.net/10919/36580en
dc.publisherVirginia Techen
dc.relation.haspartetd.pdfen
dc.relation.haspartschlegel.pdfen
dc.rightsIn Copyrighten
dc.rights.urihttp://rightsstatements.org/vocab/InC/1.0/en
dc.subjectautonomous vehicleen
dc.subjectlateral controlen
dc.subjectimage processingen
dc.subjecttelerobotic operationen
dc.subjectH-Infinity controlen
dc.titleAutonomous Vehicle Control using Image Processingen
dc.typeThesisen
thesis.degree.disciplineElectrical and Computer Engineeringen
thesis.degree.grantorVirginia Polytechnic Institute and State Universityen
thesis.degree.levelmastersen
thesis.degree.nameMaster of Scienceen

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