ROBOG an autonomously navigating vehicle based on road detection for unstructured road

摘要

This research addresses the problem of navigating a robotic vehicle autonomously on unstructured roads where road information is not accurate. A real-time system for finding and tracking unstructured road in off-road conditions is proposed. The subsystems of autonomous navigation — road detection, steering, and obstacle avoidance are discussed in detail. This method has been integrated into a vehicle and driven successfully for both structured and unstructured road. An overview of vehicle performance in field is provided.