In this paper, we present the prior art to find the ROI of computer vision research in order to acquire the necessary information using images or video. We adaptively obtain the ROI from the problems of conventional method with limited size of the template method and the assumption that the signboard image is located at the center. A method for signboard detection is proposed by searching the Hough line and determining the area of interest and reconstructing it taking into consideration the warped image.
This paper developed the algorithm for improving the performance the auto pilot in the autonomous vehicle system consisting of the Track keeping control, the Automatic steering, and the Automatic mooring control. The automatic steering is the control device that could save the voyage distance and cost of fuel by reducing the unnecessary burden of driving due to the continuous artificial navigation, and avoiding the route deviation. During the step of the ship autonomic navigation control, since the wind power or the tidal force could make the ship deviate from the fixed course, the automatic steering calculates the difference between actual sailing line and the set course to keep the ship sailing in the vicinity of intended course. first, we could get the transfer function for the modeling of ship according to the Nomoto model. Considering the maneuverability, we propose it as linear model with only 4 degree of freedoms to present the heading angle response to the input of rudder angle. In this paper, the model of ship is derived from the simplified Nomoto model. Since the proposed model considers the maximum angle and rudder rate of the ship auto pilot and also designs the Fuzzy controller based on existing PID controller, the performance of the steering machine is well improved.
In this paper, a new terminology, robicle, is defined. Robicle means a robotic vehicle with robotic intelligence and vehicular mobility. Technologies for vision based robicle and magnet based robicle are introduced. As applications of robicle, some developed robicles are presented. Also, the experimental setup and results of vision and magnet based robicle are described.
In this paper, we present the prior art to find the ROI of computer vision research in order to acquire the necessary information using images. or video. We adaptively obtain the ROI from the problems of conventional method. A method for signboard detection is proposed by searching the Hough line and determining the area of interest and reconstructing it taking into consideration the warped image.
Magnetic sensing is a reliable technology that has been developed for the purposed of position measurement and guidance, especially for applications in autonomous robotic vehicles. To calculate a position of a magnetic guidance road, it should be estimated in real-time. While the capability of a microprocessor and memory spaces have the limitation in implementation. To solve the above problems, this paper proposes a new structure of the magnetic sensors included a vertical magnetic field. The proposed method uses the linear region of the sensor output, and position determination using a simple equation with a microcontroller. The position sensing technique was implemented in the guidance of autonomous vehicle. The test results show that position sensing can be useful for an autonomous robotic vehicle.
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