This research work
focuses on the design and implementation of the
vision-guided autonomous vehicles that represented
BYU in the 2005 (Team Urckbot) and 2006 (Y-Clops)
Intelligent Ground Vehicle Competition (IGVC), in
which autonomous vehicles navigate a course marked
with white lines while avoiding obstacles
consisting of orange construction barrels, white
buckets and potholes. Our project began in the
context of a senior capstone course in which
multi-disciplinary teams of five students were
responsible for the design, construction, and
programming of their own robots. Each team
received a computer motherboard, a camera, and a
small budget for the purchase of additional
hardware, including a chassis and motors. The
resource constraints resulted in a simple
vision-based design that processes the sequence of
images from the single camera to determine motor
controls. Color segmentation separates white and
orange from each image, and then the segmented
image is examined using a 10x10 grid system,
effectively creating a low resolution picture for
each of the two colors. Depending on its position,
each filled grid square influences the selection
of an appropriate turn magnitude. Motor commands
determined from the white and orange images are
then combined to yield the final motion command
for video frame.
Shafer Scholarship, Embedded System Center,
and ECEn Dept.
Chris Archibald, Aaron Dennis, Spencer
Fowers, Chris Greco, Kirt Lillywhite,
Evan Millar, and Beau Tippetts
B.J. Tippetts, K.D. Lillywhite,
S.G. Fowers, A.W. Dennis, C.R.
Greco, D.J. Lee, and J.K. Archibald, “A
Simple, Inexpensive, and Effective
Implementation of a Vision Guided Autonomous
Robot”, SPIE Optics East, Intelligent
Robots and Computer Vision XXIV: Algorithms,
Techniques, and Active Vision, vol. 6382-35,
63840P, Boston, MA, USA, October 1-4, 2006.
Fife, J.K. Archibald, and D.J. Lee,
“Fast 3D Reconstruction for Small Autonomous
Robots”, Proceedings of The 31st Annual
Conference of the IEEE Industrial Electronics
Society (IECON 05), p. 373-378, Raleigh, North
Carolina, USA, November 6-10, 2005.
Cluff, J.K. Archibald, and D.J. Lee,
“Autonomous Mobile Robotic System with Onboard
Vision using Configurable Logic”, Proceedings of
The 31st Annual Conference of the IEEE
Industrial Electronics Society (IECON 05), p.
351-356, Raleigh, North Carolina, USA, November
- C. Archibald, E.S.
Millar, J.D. Anderson, J.K. Archibald, and D.J.
Lee, “A Simple Approach to a Vision-guided
Unmanned Vehicle”, SPIE Optics East, Robotics
Technologies and Architectures, Intelligent
Robots and Computer Vision XVIII, vol. 6006, p.
210-220, Boston, MA, USA, October 23-26, 2005.
image to view.)