Vision‐based autonomous convoying with constant time delay |
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| Authors: | Hien K Goi Jared L Giesbrecht Timothy D Barfoot Bruce A Francis |
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| Affiliation: | 1. Department of Electrical and Computer Engineering, University of Toronto, 10 King's College Road, Toronto, Ontario M5S 3G4, Canada;2. Defence Research and Development Canada Suffield, Medicine Hat, Alberta T1A 8K6, Canada;3. Institute for Aerospace Studies, University of Toronto, 4925 Dufferin Street, Toronto, Ontario M3H 5T6, Canada |
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| Abstract: | This paper describes the design and experimental validation of a vision‐based vehicle‐following system that uses only onboard sensors to enable a convoy of follower vehicles to autonomously track the trajectory of a manually driven lead vehicle. The tracking is done using the concept of a constant time delay, in which a follower tracks the delayed trajectory of its leader. This constant‐time‐delay approach allows for new techniques to be used to estimate the speed and heading of the leader. Experiments were conducted with full‐sized military vehicles on a 1.3‐km test track. Successful field trials with one follower for 10 laps and with two followers for 13.5 laps, totaling over 30 km, are presented. © 2010 Government of Canada. Exclusive worldwide publication rights in the article have been transferred to Wiley Periodicals, Inc., AWiley Company. |
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