%0 Journal Article
%T Improved Line Tracking System for Autonomous Navigation of High-Speed Vehicle
%A Yahya Zare Khafri
%A Ali Jahanian
%J IAES International Journal of Robotics and Automation (IJRA)
%D 2012
%I Institute of Advanced Engineering and Science (IAES)
%R 10.11591/ijra.v1i3.766
%X Line tracking navigation is one of the most widely techniques used in the robot navigation. In this paper, a customized line tracking system is proposed for autonomous navigation of high speed vehicles. In the presented system, auxiliary information -in addition to the road path- is added to the tracking lines such as locations of turn and intersections in the real roads. Moreover, the geometric position of line sensors is re-designed enables the high rate sensing with higher reliability. Finally, a light-weight navigation algorithm is proposed allow the high-speed movement using a reasonable processing power. This system is implemented on a MIPS-based embedded processor and experimental results with this embedded system show more than 98% accuracy at 200km/h with a 1GHz processor is viable.
%U http://www.iaesjournal.com/online/index.php/IJRA/article/view/766