Advanced guided vehicle: distributed system

Author

Wang, Han ; Li, Stan Z. ; Chua, Hong Chuek ; Chan, Seng Way ; Tang, Rong ; Wang, Zheng Gang ; Goh, Ching Tardi

Author_Institution

Sch. of Electr. & Electron. Eng., Nanyang Technol. Inst., Singapore

fYear

1997

fDate

9-12 Sep 1997

Firstpage

830

Abstract

This paper focuses on the construction of an advanced guided vehicle in the following areas: localization process, motion control process and the integration of the overall system, vision processing, and path planning. The localization process is to determine the position and orientation of the vehicle continuously during the running of the vehicle. The motion control process commands the motor to drive the vehicle to the desired position. Effort was put into improving the estimation and driving for upto expectation accuracy. The integration task aims at corporating the various tasks together for the completion of the project. Vision processing is to process the image captured by the CCD camera to determine the obstacle information in front of the vehicle. The path planning process is to define the path for the vehicle to travel

Keywords

automatic guided vehicles; computerised control; distributed control; mobile robots; motion control; path planning; robot vision; CCD camera image; advanced guided vehicle; estimation; integration task; localization process; motion control process; obstacle information; orientation; path planning; position; vision processing; Charge coupled devices; Charge-coupled image sensors; Dead reckoning; Digital signal processing; Intelligent vehicles; Motion control; Path planning; Voltage; Wheelchairs; Wheels;

fLanguage

English

Publisher

ieee

Conference_Titel

Information, Communications and Signal Processing, 1997. ICICS., Proceedings of 1997 International Conference on

Print_ISBN

0-7803-3676-3

Type

conf

DOI

10.1109/ICICS.1997.652095

Filename

652095