Vision-based Vehicle Navigation Using the Fluorescent Lamp Array on the Ceiling

Abstract

In this paper, autonomous navigation based on a TV vision system on board a vehicle is proppsed. Our method is to use fluorescent lamp arrays on the ceiling as a lighthouse for vehicle motion. First, experimental study of vehicle control based on information from photo-sensors, set up on a TV screen, is worked out using an actual size model. Then, numerical simulations for this control scheme are carried out in detail. Moreover, a more vision-based approach is investigated which extracts information aspects from the images of fluorescent lamp arrays to realize more exact motion along the lamp array. Finally, a practical autonomous vehicle which is controlled by a photo-sensor system is constructed and its experimental results are shown.