A LOW-COST SELF-GUIDED VEHICLE FOR NON-STRUCTURED ROADS

The goal of this paper is to show how a low-cost self-guided electric vehicle can navigate in an autonomous way using the information provided by the vision system in a non-structured environment. After carrying out the appropriate on-line processing of the images, the information about the curves and changes in the slope of the road is sent to the control system. This system, consisting in a fuzzy controller, is the responsible for acting both the traction and steering motors in order to dynamically adapt the velocity and direction of the vehicle to the conditions of the road.