BORGES, G. A.; http://lattes.cnpq.br/6103264336506171; BORGES, Geovany Araújo.
Resumo:
This dissertation presents a trajectory recognition optical system for automated vehicles,
whose main characteristics are low cost, simplicity and high sampling rate. The main
application for this system is in the recognition of nonreflective optical guides painted
on even floors, for guiding automated vehicles. The detection of the reference trajectory
is done by the Image Acquisition Unit (IAU), which acquires low-resolution images
from the floor. These images are quantized and arranged i n a vector. The image vector
is processed and trajectory error variables are estimated by the Image Processing Unit
(IPU). A trajectory controller architecture for a prototype vehicle is also presented.
It consists of the Trajectory Control Unit (TCU), which commands the vehicle drive
system to make i t track the nonreflective optical guide with a constant speed. The
components of this system were evaluated using a test platform, simulation or by experiments
with the prototype vehicle. The experimental results with the prototype
vehicle demonstrated the satisfatory functioning of the proposed system.