Vehículo autónomo a escala para el seguimiento de marcas viales de carretera
- Jorge de Castro Casares 1
- Eduardo Zalama Casanova 2
- Eusebio de la Fuente López 2
- Jaime Gómez García-Bermejo 2
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1
Universidad de Valladolid
info
- 2 Instituto Tecnologías Avanzadas de la Producción (ITAP)
- Inés Tejado Balsera (coord.)
- Emiliano Pérez Hernández (coord.)
- Antonio José Calderón Godoy (coord.)
- Isaías González Pérez (coord.)
- Pilar Merchán García (coord.)
- Jesús Lozano Rogado (coord.)
- Santiago Salamanca Miño (coord.)
- Blas M. Vinagre Jara (coord.)
Argitaletxea: Universidad de Extremadura
ISBN: 978-84-9749-756-5, 978-84-09-04460-3
Argitalpen urtea: 2018
Orrialdeak: 270-275
Biltzarra: Jornadas de Automática (39. 2018. Badajoz)
Mota: Biltzar ekarpena
Garapen Iraunkorreko Helburuak
Laburpena
This article presents the development of a vehicle at scale that allows autonomous driving by self-guided through the detection of road signs. The vehicle is based on a modified radio control model with a camera for the detection of road signs and traffic lights, and a lidar laser for obstacle detection. It also includes an Odroid processor with Ubuntu Linux base system and ROS (Robot Operation System) for high level control, and an Arduino microcontroller for motor control. The control system is based on the Subsumption architecture model, which includes three modules with different priority levels. The tracking of road markings uses a RANSAC algorithm for the detection of straight lines and a PID control system. The control system includes the detection of obstacles and maneuvers, and the detection of traffic lights. The proposed architecture has been verified in the 2017 edition of the Seat Autonomous Driving Challenge reaching the first position.