RF-Enhanced Pavement Markings for Mobile Robot Lane Detection
The ability to detect and keep in lanes is crucial for the safe operation of autonomous mobile robots in construction sites and their coordination with humans in autonomous ports or logistic centers. While computer vision-based lane detection algorithms perform well under normal conditions, their pe...
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| Vydáno v: | IEEE International Conference on Automation Science and Engineering (CASE) s. 1 - 6 |
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| Jazyk: | angličtina |
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IEEE
26.08.2023
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| ISSN: | 2161-8089 |
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| Abstract | The ability to detect and keep in lanes is crucial for the safe operation of autonomous mobile robots in construction sites and their coordination with humans in autonomous ports or logistic centers. While computer vision-based lane detection algorithms perform well under normal conditions, their performance may degrade under low visibility conditions and in adverse weather. Since robots are not constrained by human perception limits, this paper proposes a radio frequency (RF) pavement marking system that builds on Radio Frequency Identification (RFID), a short-range communication technology, to provide lane-detection assistance. We present not only the hardware designs for the RFID systems on both vehicles and roads but also a filtering algorithm to mitigate the noise in the backscattered RF signals for lane detection. Experimental results show that the information on lane keeping provided by the RF pavement markings aligns with the visual channel when mobile robots move at a speed of less than 40 miles per hour. |
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| AbstractList | The ability to detect and keep in lanes is crucial for the safe operation of autonomous mobile robots in construction sites and their coordination with humans in autonomous ports or logistic centers. While computer vision-based lane detection algorithms perform well under normal conditions, their performance may degrade under low visibility conditions and in adverse weather. Since robots are not constrained by human perception limits, this paper proposes a radio frequency (RF) pavement marking system that builds on Radio Frequency Identification (RFID), a short-range communication technology, to provide lane-detection assistance. We present not only the hardware designs for the RFID systems on both vehicles and roads but also a filtering algorithm to mitigate the noise in the backscattered RF signals for lane detection. Experimental results show that the information on lane keeping provided by the RF pavement markings aligns with the visual channel when mobile robots move at a speed of less than 40 miles per hour. |
| Author | Melia-Segui, Joan Li, Heyi Sarma, Sanjay E. Bhattacharyya, Rahul Suo, Dajiang |
| Author_xml | – sequence: 1 givenname: Dajiang surname: Suo fullname: Suo, Dajiang email: djsuo@mit.edu organization: Massachusetts Institute of Technology,The Department of Mechanical Engineering,Cambridge,MA,USA – sequence: 2 givenname: Heyi surname: Li fullname: Li, Heyi email: heyi@mit.edu organization: Massachusetts Institute of Technology,The Department of Mechanical Engineering,Cambridge,MA,USA – sequence: 3 givenname: Rahul surname: Bhattacharyya fullname: Bhattacharyya, Rahul email: rahul_b@mit.edu organization: Massachusetts Institute of Technology,The Department of Mechanical Engineering,Cambridge,MA,USA – sequence: 4 givenname: Joan surname: Melia-Segui fullname: Melia-Segui, Joan email: melia@uoc.edu organization: Universitat Oberta de Catalunya (UOC),Faculty of Computer Science, Multimedia and Telecommunication,Barcelona,Spain – sequence: 5 givenname: Sanjay E. surname: Sarma fullname: Sarma, Sanjay E. email: sesarma@mit.edu organization: Massachusetts Institute of Technology,The Department of Mechanical Engineering,Cambridge,MA,USA |
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| Snippet | The ability to detect and keep in lanes is crucial for the safe operation of autonomous mobile robots in construction sites and their coordination with humans... |
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| SubjectTerms | Filtering algorithms Lane detection Radio frequency RF signals Roads Robot kinematics Visualization |
| Title | RF-Enhanced Pavement Markings for Mobile Robot Lane Detection |
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