Osama Montasser | Ain Shams University (original) (raw)
Papers by Osama Montasser
Recognition of the obstacles is an essential matter for the safety of vehicles during their motio... more Recognition of the obstacles is an essential matter for the safety of vehicles during their motion. This can be achieved using a stereoscopic (stereo for short) imaging techniques. In this paper, a stereo camera range finder is developed using two gray level CCD cameras. The range finder is used to construct a three dimensional, 3D, model of the environment in front of the vehicle. This is implemented by using two stereo cameras to grab two simultaneous monochromatic images, from two different directions, to the environment. The two images are digitized and fed to the memory of a personal computer. The depth of the obstacles in front of the vehicle is then determined using algorithms for matching the two stereo images. The present range finder system was applied to control the motion of a small vehicle which was previously constructed by the authors [12, 1 & 2]. The present stereo camera head as well as the present matching and control algorithms had been developed by the authors. S...
The autonomous navigation of vehicles may benefit from the appearance of land marks to guide the ... more The autonomous navigation of vehicles may benefit from the appearance of land marks to guide the vehicle motion. In this paper, the color of a landmark, detected in the image of a video camera fitted on the top of an autonomous vehicle, is used to control its motion. The vehicle design and construction can be found in [1,2,3]. The landmark color which is detected from previous knowledge of its color chromaticity and its location in the image is used to compute the vehicle steering angle to track the landmark. A color tracking control system is built to keep the landmark continually in the middle of the captured image. This tracking system is implemented using a feedback control system. Algorithms for the image processing and vehicle control are specially built by the authors and implemented using a personal computer. Several experiments are carried out and the ability of the control system to guide the vehicle in tracking a colored landmark is verified.
In this paper, we develop a control system for navigating a small experimental vehicle according ... more In this paper, we develop a control system for navigating a small experimental vehicle according to a given route. The route is given together with the site map showing the existing static obstacles. The vehicle consists of a three-wheeled chassis, which was previously constructed by the authors [1, 2]. The vehicle sensors and actuators are wired to a Personal Computer, PC-based control system through a data acquisition module. An algorithm is devised for following the required route in the map. The vehicle route is fed to the algorithm in the form of a bitmap image. The instruments used are a dead reckoning system for distance measurement and a differential angle sensor to trace the change in the steering angle. The vehicle position inside the map can therefore be instantaneously determined, relative to a reference position. Several experiments were carried out in which the control system enabled the vehicle to follow the route.
IOSR Journal of Mechanical and Civil Engineering, 2014
In this paper, we develop a control system for guiding a small experimental vehicle to secure its... more In this paper, we develop a control system for guiding a small experimental vehicle to secure its motion against collision with obstacles. Obstacles are detected by four ultra-sonic range sensors mounted over a three-wheeled chassis, which was previously constructed by the authors [1]. Electronic circuits were designed and implemented by the authors to control the steering angle and the driving status of the vehicle (go-stop/forward-backward). Signals from sensors and control actions from a host personal computer are exchanged via a data acquisition hard ware. Two control algorithms are developed and implemented as soft ware programs using C language. The first is constructed to stop the vehicle if an obstacle appears in its direction of motion and to continue its motion if the obstacle disappears. The second algorithm is constructed to perform local maneuvering behavior to escape from obstacles. The first algorithm was also implemented as a hard ware in the form of a logic electronic circuit. The circuit enables the local maneuvering behavior in real time mode while maintaining the full speed of the vehicle. Several experiments were carried out in which the vehicle was successfully guided without collision with obstacles.
Recognition of the obstacles is an essential matter for the safety of vehicles during their motio... more Recognition of the obstacles is an essential matter for the safety of vehicles during their motion. This can be achieved using a stereoscopic (stereo for short) imaging techniques. In this paper, a stereo camera range finder is developed using two gray level CCD cameras. The range finder is used to construct a three dimensional, 3D, model of the environment in front of the vehicle. This is implemented by using two stereo cameras to grab two simultaneous monochromatic images, from two different directions, to the environment. The two images are digitized and fed to the memory of a personal computer. The depth of the obstacles in front of the vehicle is then determined using algorithms for matching the two stereo images. The present range finder system was applied to control the motion of a small vehicle which was previously constructed by the authors [12, 1 & 2]. The present stereo camera head as well as the present matching and control algorithms had been developed by the authors. S...
The autonomous navigation of vehicles may benefit from the appearance of land marks to guide the ... more The autonomous navigation of vehicles may benefit from the appearance of land marks to guide the vehicle motion. In this paper, the color of a landmark, detected in the image of a video camera fitted on the top of an autonomous vehicle, is used to control its motion. The vehicle design and construction can be found in [1,2,3]. The landmark color which is detected from previous knowledge of its color chromaticity and its location in the image is used to compute the vehicle steering angle to track the landmark. A color tracking control system is built to keep the landmark continually in the middle of the captured image. This tracking system is implemented using a feedback control system. Algorithms for the image processing and vehicle control are specially built by the authors and implemented using a personal computer. Several experiments are carried out and the ability of the control system to guide the vehicle in tracking a colored landmark is verified.
In this paper, we develop a control system for navigating a small experimental vehicle according ... more In this paper, we develop a control system for navigating a small experimental vehicle according to a given route. The route is given together with the site map showing the existing static obstacles. The vehicle consists of a three-wheeled chassis, which was previously constructed by the authors [1, 2]. The vehicle sensors and actuators are wired to a Personal Computer, PC-based control system through a data acquisition module. An algorithm is devised for following the required route in the map. The vehicle route is fed to the algorithm in the form of a bitmap image. The instruments used are a dead reckoning system for distance measurement and a differential angle sensor to trace the change in the steering angle. The vehicle position inside the map can therefore be instantaneously determined, relative to a reference position. Several experiments were carried out in which the control system enabled the vehicle to follow the route.
IOSR Journal of Mechanical and Civil Engineering, 2014
In this paper, we develop a control system for guiding a small experimental vehicle to secure its... more In this paper, we develop a control system for guiding a small experimental vehicle to secure its motion against collision with obstacles. Obstacles are detected by four ultra-sonic range sensors mounted over a three-wheeled chassis, which was previously constructed by the authors [1]. Electronic circuits were designed and implemented by the authors to control the steering angle and the driving status of the vehicle (go-stop/forward-backward). Signals from sensors and control actions from a host personal computer are exchanged via a data acquisition hard ware. Two control algorithms are developed and implemented as soft ware programs using C language. The first is constructed to stop the vehicle if an obstacle appears in its direction of motion and to continue its motion if the obstacle disappears. The second algorithm is constructed to perform local maneuvering behavior to escape from obstacles. The first algorithm was also implemented as a hard ware in the form of a logic electronic circuit. The circuit enables the local maneuvering behavior in real time mode while maintaining the full speed of the vehicle. Several experiments were carried out in which the vehicle was successfully guided without collision with obstacles.