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# Vision-based Motion Planning for an Autonomous Motorcycle on Ill-Structured Road - PowerPoint PPT Presentation

Vision-based Motion Planning for an Autonomous Motorcycle on Ill-Structured Road. Reporter ： 鄒嘉恆 Date ： 08/31/09. Intr oduction. Design a vision-based motion planning system for desert terrain. The motion planning is based on a vision vector space(V 2 -space).

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### Vision-based Motion Planning for an Autonomous Motorcycle on Ill-Structured Road

Reporter：鄒嘉恆

Date：08/31/09

• Design a vision-based motion planning system for desert terrain.

• The motion planning is based on a vision vector space(V2-space).

• Motivated by the DARPA Grand Challenge.

• V2-space

• Algorithm

• V2-Space construction

• Motion planning in V2-space

• Experimental results

• Conclusion

• Pin-hole model：

• Video frame F is a matrix of RGB values：

• Color correction：

• Surface verification：

• Obstacles detection：

• Direction extraction：

Algorithm Ill-Structured Road：Motion planning in V2-space

• A point robot with no time delay：

Algorithm Ill-Structured Road：Motion planning in V2-space

• Choose the velocity profile vp(t)

• The motorcycle cannot run too fast for a given trajectory radius R.

A Ill-Structured Roadlgorithm：Motion planning in V2-space

• Incorporating GPS information：

Algorithm Ill-Structured Road：Vehicle size and processing delay

• Vehicle size

Algorithm Ill-Structured Road：Vehicle size and processing delay

• Image processing delay：

• From video clip：

• From video clip：

• From video clip：