IEEE Transaction on Intelligent Transportation Systems, Vol. 1, NO. 3, pp. 164-176, Sept. 2000
This paper presents the methods for sensing obstacles and vehicles implemented
on the ARGO vehicle. First the ARGO project is brie described
along with its main objectives, then the prototype vehicle and its
functionalities are presented. The perception of the environment is performed
through the processing of images acquired from the vehicle; details about
the detection of generic obstacles are given, along with a measurement
of the performance of the method; then a new approach for leading vehicles
detection is described. The paper is concluded with a description of the
current implementation of the control system, based on a gain scheduled
controller, which allows the vehicle to follow the road or other vehicles.