IFAC Symposium on System Identification (SYSID2003)


Automatic steering control system design utilizing a visual feedback approach
-- System identification and control experiments with a radio-controlled car --

S.Adachi, T.Fujihira and Y.Fujiwara

Abstract

Advanced safety vehicles (ASV) assist drivers in avoiding traffic accidents, and research in all areas of automatic driving systems is necessary to further develop ASV technology. This paper focuses on a visual feedback approach in which an automatic driving system is obtained by recognizing the road trajectory using image information. The validity of this approach is examined by conducting experiments with a radio-controlled car. First, a practical image processing algorithm that recognizes white lines on the road is proposed.Next, a model of the radio-controlled car is built by system identification experiments and an automatic steering control system is designed based upon H-infinity control theory. Finally, the effectiveness of the proposed control system is examined via traveling experiments.

Keywords: automatic steering, visual feedback, system identification, robust control.