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Autonomous Line Detection and Lane Following for a Mobile Robot

Autonomous Line Detection and Lane Following for a Mobile Robot. Andrew Bacha. IGVC Competition. Held annually by AUVSI 3 events Autonomous Challenge Navigation Challenge Design Competition Presentation will focus on the Autonomous Challenge. GPS. Camera. Compass.

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Autonomous Line Detection and Lane Following for a Mobile Robot

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  1. Autonomous Line Detection and Lane Following for a Mobile Robot Andrew Bacha

  2. IGVC Competition • Held annually by AUVSI • 3 events • Autonomous Challenge • Navigation Challenge • Design Competition • Presentation will focus on the Autonomous Challenge

  3. GPS Camera Compass Electronics & Computing Laser Rangefinder Vehicle Platform • Custom built differential drive vehicle • Camera and Laser Rangefinder used in the Autonomous Challenge • Controlled by Pentium 4 laptop computer

  4. Desired Path Final Path Obstacle Avoidance Command Motors Autonomous Challenge Software Image Analysis

  5. Image Analysis Line Extraction Threshold Line Analysis Image Pre-processing Resample & Split Image Determine Heading Threshold Line Analysis

  6. Image Preprocessing • Extracts blue color channel to convert to grayscale Blue Channel Color Image Red Channel Green Channel

  7. Image Preprocessing • Combining the blue and green channel can improve results Mixed Channel Blue Channel Source Image

  8. Thresholding • Reduces image to points believed to be part of a line • Early development used dynamic thresholding • Switched to “brightest pixel” thresholding at IGVC Original Image Dynamic Threshold Brightest Pixel Threshold

  9. Line Analysis • Uses Hough Transform to fit dominant line How it works: • Counts occurrences of every possible line through each point • Line that occurs the most is chosen to be the dominant line

  10. Line Analysis • Hough Transform was reliable at finding the painted line in a variety of conditions

  11. Decision Trees • Method used to determine heading to the center of the lane depends on the situation • Hough Transform gives line equation and a “score” • The Hough Transform results are used in a decision tree to select the method to calculate heading

  12. At least one line is horizontal? Y N 2 Line Heading Are both lines horizontal? Y N Both Horizontal 2 Lines, 1 Horizontal Is one line present? Y N Go Straight Is the only line horizontal? Y N 1 Line Heading 1 Line, 1 Horizontal Decision Trees 2 Lines Present At least 1 line missing

  13. The Final Results

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