In order to increase speed and efficiency of making line markings, a vision-navigation-based self-optimizing control system is proposed for an unmanned line marking machine (ULMM). A new Haar-like-feature based algorithm is used to detect a guide line (GL) for the ULMM, and to reduce the influence of complex road surfaces and light. For the problems of an inaccurate ULMM model and local navigation information, an online self-optimizing control algorithm is presented, and its self-learning rules are given. Results of simulations and real machine experiments reveal that the proposed navigation algorithm accurately detects the GL, and the precision of the control system satisfies the requirements of the line marking work.
Unmanned Line Marking Machine, Vision navigation, Self-optimizing control, Model-free.
Guanxu LONG, Lei SHI, Gongfeng XIN, Shenqi GAO, Wenliang ZHANG, Jicun XU, "Machine-vision-based Online Self-optimizing Control System for Line Marking Machines", Studies in Informatics and Control, ISSN 1220-1766, vol. 32(2), pp. 93-104, 2023. https://doi.org/10.24846/v32i2y202309
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