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All Journal IAES International Journal of Robotics and Automation (IJRA)
Ali Jahanian
Shahid Beheshti University, G. C.
Automotive Engineering Electrical & Electronics Engineering

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Improved Line Tracking System for Autonomous Navigation of High-Speed Vehicle Yahya Zare Khafri; Ali Jahanian
IAES International Journal of Robotics and Automation (IJRA) Vol 1, No 3: September 2012
Publisher : Institute of Advanced Engineering and Science

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Abstract

Line tracking navigation is one of the most widely techniques used in the robot navigation. In this paper, a customized line tracking system is proposed for autonomous navigation of high speed vehicles. In the presented system, auxiliary information -in addition to the road path- is added to the tracking lines such as locations of turn and intersections in the real roads. Moreover, the geometric position of line sensors is re-designed enables the high rate sensing with higher reliability. Finally, a light-weight navigation algorithm is proposed allow the high-speed movement using a reasonable processing power. This system is implemented on a MIPS-based embedded processor and experimental results with this embedded system show more than 98% accuracy at 200km/h with a 1GHz processor is viable.DOI: http://dx.doi.org/10.11591/ijra.v1i3.766
Co-Authors Yahya Zare Khafri