Vision-Based Control in Driving Assistance of Agricultural Vehicles
| Autor: | Raphael Rouveure, Pierre Bonton, Philippe Martinet, J. Gallice, Christophe Debain, Djamel Khadraoui |
|---|---|
| Rok vydání: | 1998 |
| Předmět: |
0209 industrial biotechnology
Engineering Relation (database) Machine vision media_common.quotation_subject 02 engineering and technology Domain (software engineering) 020901 industrial engineering & automation Artificial Intelligence Real-time Control System 0202 electrical engineering electronic engineering information engineering Computer vision Electrical and Electronic Engineering Function (engineering) media_common Artificial neural network business.industry Applied Mathematics Mechanical Engineering Control engineering Robotics Modeling and Simulation Control system 020201 artificial intelligence & image processing Artificial intelligence business Software |
| Zdroj: | Scopus-Elsevier |
| ISSN: | 1741-3176 0278-3649 |
| Popis: | This article presents a real-time control system for an agricultural mobile machine (vehicle) based on an on-board vision system using a single camera. This system has been designed to help humans in repetitive and difficult tasks in the agricultural domain. The aim of the robotics application concerns the control of the vehicle with regard to the reap limit detected in image space. The perception aspect in relation to the application has been described in previous work, and here we deal with the control aspect. We integrate image features issued from the modeling of the scene in the control loop to perform an image-based servoing technique. The vehicle behavior described here concerns bicycle and neural models, and three control laws are then synthesized. The first and the second are modeling approaches and use an interaction between the scene and the image space. They are based on the regulation of a task function. The third is a "black-box modeling" technique, and is based on a neural network. Finally, experimental results obtained with these different control laws in different conditions are presented and discussed. |
| Databáze: | OpenAIRE |
| Externí odkaz: |
|