<p>This
thesis describes the development of a low-cost, low-power, accurate sensor designed
for precise, feedback control of an autonomous vehicle to a hitch. Few studies
have been completed on the hitching problem, yet it is an important challenge
to be solved for vehicles in the agricultural and transportation industries.
Existing sensor solutions are high cost, high power, and require modification
to the hitch in order to work. Other potential sensor solutions such as LiDAR
and Digital Fringe Projection suffer from these same fundamental problems. </p>
<p>The
solution that has been developed uses an active stereo vision system, combining
classical stereo vision with a laser speckle projection system, which solves
the correspondence problem experienced by classic stereo vision sensors. A
third camera is added to the sensor for texture mapping. As a whole, the system
cost is $188, with a power usage of 2.3 W.</p>
<p>To
test the system, a model test of the hitching problem was developed using an RC
car and a target to represent a hitch. In the application, both the stereo
system and the texture camera are used for measurement of the hitch, and a
control system is implemented to precisely control the vehicle to the hitch.
The system can successfully control the vehicle from within 35⁰ of perpendicular to the
hitch, to a final position with an overall standard deviation of 3.0 mm of
lateral error and 1.5⁰
of angular error. Ultimately, this is believed to be the first low power, low
cost hitching system that does not require modification of the hitch in order
to sense it. </p>
| Identifer | oai:union.ndltd.org:purdue.edu/oai:figshare.com:article/11310134 |
| Date | 03 December 2019 |
| Creators | Michael Clark Feller (8071319) |
| Source Sets | Purdue University |
| Detected Language | English |
| Type | Text, Thesis |
| Rights | CC BY 4.0 |
| Relation | https://figshare.com/articles/Active_Stereo_Vision_for_Precise_Autonomous_Vehicle_Hitching/11310134 |
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