NDLI: Application of Integrated Central and Distributed Decisions to Path Tracking Control of a Vision-based Intelligent Vehicle

Content Provider	IEEE Xplore Digital Library
Author	Weihua Zhang Minglei Wang Wuwei Chen Goldenberg, A.A.
Copyright Year	2010
Abstract	Vision-based intelligent vehicle is widely used for its advantages in acquiring more information, higher flexibility in path setting, etc. The control architecture, which is the foundation of the intelligent vehicle system, must be appropriately built up before the vehicle system is designed. By analyzing the characteristics of the existing architectures, an architecture based on central and distributed decisions is presented. A specific vehicle system is designed based on path tracking. The vehicle system acquires the path information by machine vision and automatically tracks the recognized path. In order to recognize the path image robustly, the methods of segmental optimal thresholds and adaptable thresholds are presented. Furthermore, a preview controller, which can adjust the vehicle speed and its preview distance, is designed for improving the path-tracking accuracy. Finally, experiments are performed under different scenarios to verify the proposed theories and methods.
Starting Page	210
Ending Page	216
File Size	640485
Page Count	7
File Format	PDF
ISBN	9781424486687
DOI	10.1109/TAAI.2010.43
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2010-11-18
Publisher Place	Taiwan
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Image segmentation Vision navigation Navigation Intelligent vehicles Intelligent vehicle Decision making Wheels Computer architecture Preview tracking Central and distributed decisions Vehicles Control architecture
Content Type	Text
Resource Type	Article

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1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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