Intelligent obstacle avoidence system design of an unmanned ground vehicle with stereo vision

摘要

The main theme of this paper is to develop a navigation vehicle system without GPS. With stereo vision, the geographic information ahead of the vehicle is obtained by the principle of plane induced parallax. The profiles of left and right vision are acquired by Canny Edge Detection algorithm. Then, an intersection line of the obstacle and the level ground is found by the way of image processing. Finally, the position and distance of the obstacle is calculated by the homography matrix method. Integrating the above-distributed schemes unmanned vehicle can avoid collisions with obstacles and arrive at the target in difference scenario. Experimental results show that the proposed navigation and control methodology are practicable.