The Development of Autonomous 4×4 Vehicle

• Main Authors: Wei-Mao Chen, 陳維懋
• Other Authors: Ying-Jeng Wu
• Format: Others
• Language: zh-TW
• Published: 2011
• Online Access: http://ndltd.ncl.edu.tw/handle/98038240059134659735

碩士 === 國立雲林科技大學 === 機械工程系碩士班 === 99 === In order to obtain environment perception and vehicle state, most of automatic navigating would be equipped with multiple sensors, such as laser range finders, RADAR sensor, camera, GPS, compass, IMU, and so on.Compared to other sensors, the camera may catch more information in lower cost. It will reduce the cost as automatic navigation realized in complex environment. Therefore, the autonomous vehicle developed in this thesis, Yun-Trooper, which equipped a CCD camera, on a four-wheel drive(4WD) off-road chassis and an industrial computer as decision-making control center. To recognize the surrounding objects, machine vision system is implemented with DirectShow and OpenCV of Microsoft Foundation Class Library(MFC). In the result of this thesis, the autonomous vehicle achieves navigation in outdoor cluttered pedestrian walkways.