適応地点追従法による移動体の自動追尾走行

概要

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In this paper, a measuring method of relative distance and orientation between vehicles by image processing and flexible target point following algorithm suitable for vehicle-following system are proposed. Generally, measurement precision depends on distance to target object, but we could measure independently of distance and in high precision by zoom control. As a steering algorithm, target point following algorithm suitable for vehicle-following was proposed in the past, but it was reported that the algorithm does not always decide every orientation on target point and sometimes there is an possibility to go a long way for the target point. So we improve this algorithm by putting a revised point between vehicle's now point and target point when the target orientation can't be decided. By this algorithm, range of orientation on target position that we can set becomes more and more wide than that was. We call this algorithm flexible target following algorithm. From vehicle- following experiment with these methods, it is confirmed that these methods are very effective to vehicle-following system.
一般社団法人日本機械学会の論文
1999-08-25