Vision-based trajectory control system of an autonomous vehicle / (Record no. 67368)
[ view plain ]
| 000 -LEADER | |
|---|---|
| fixed length control field | 03346cam a2200337 a 4500 |
| 003 - CONTROL NUMBER IDENTIFIER | |
| control field | EG-GiCUC |
| 005 - DATE AND TIME OF LATEST TRANSACTION | |
| control field | 20250223032041.0 |
| 008 - FIXED-LENGTH DATA ELEMENTS--GENERAL INFORMATION | |
| fixed length control field | 180909s2018 ua dh f m 000 0 eng d |
| 040 ## - CATALOGING SOURCE | |
| Original cataloging agency | EG-GiCUC |
| Language of cataloging | eng |
| Transcribing agency | EG-GiCUC |
| 041 0# - LANGUAGE CODE | |
| Language code of text/sound track or separate title | eng |
| 049 ## - LOCAL HOLDINGS (OCLC) | |
| Holding library | Deposite |
| 097 ## - Thesis Degree | |
| Thesis Level | M.Sc |
| 099 ## - LOCAL FREE-TEXT CALL NUMBER (OCLC) | |
| Classification number | Cai01.13.13.M.Sc.2018.Ah.V |
| 100 0# - MAIN ENTRY--PERSONAL NAME | |
| Personal name | Ahmed Desoky Abdelaty Sabiha |
| 245 10 - TITLE STATEMENT | |
| Title | Vision-based trajectory control system of an autonomous vehicle / |
| Statement of responsibility, etc. | Ahmed Desoky Abdelaty Sabiha ; Supervised Galal Ali Hassaan , Amgad Mohammed Bayoumy |
| 246 15 - VARYING FORM OF TITLE | |
| Title proper/short title | التحكم في مسار مركبة ذاتية التوجيه بالإعتماد على نظام الرؤية بإستخدام الحاسب |
| 260 ## - PUBLICATION, DISTRIBUTION, ETC. | |
| Place of publication, distribution, etc. | Cairo : |
| Name of publisher, distributor, etc. | Ahmed Desoky Abdelaty Sabiha , |
| Date of publication, distribution, etc. | 2018 |
| 300 ## - PHYSICAL DESCRIPTION | |
| Extent | 105 P. : |
| Other physical details | charts , facsimiles ; |
| Dimensions | 30cm |
| 502 ## - DISSERTATION NOTE | |
| Dissertation note | Thesis (M.Sc.) - Cairo University - Faculty of Engineering - Department of Mechanical Design and Production |
| 520 ## - SUMMARY, ETC. | |
| Summary, etc. | This thesis presents a comprehensive mathematical modeling and simulation for the trajectory of a vision-based autonomous vehicle during moving between lane lines of the structured road. In addition, demonstration building, implementing, and developing a trajectory tracking control system based on computer vision for autonomous cars. The simulation accomplished by using MATLAB/Simulink software. This simulation mimics the existence of an actual digital camera by using a novel 3D-vision block to simulate the actual images that assumed to be provided by a digital camera connected to an embedded computer. The 3D-vision block uses mathematical equations, execution sequence and logical conditions to create a virtual captured image. So, this virtual image is then used to detect the lane in the front of the vehicle depending on the virtual camera position and its parameters. Inside simulation environment that based on the kinematic model of the vehicle and vision model, the controller is designed in the simulation and is coded in the embedded computerwith the optimized control gains. The implementation presents a system includes a single digital camera, an embedded computer(Raspberry Pi 2), and a microcontroller boardto produce an autonomous car to be able to track current road lane, where the digital camera is mounted at the top of the vehicle along its longitudinal axis. The real-time captured images are processed using Python code with OpenCV library over Linux operating system to obtain geometrical data of road lane. From this data, the observable errors can be determined. Finally, a steering controller utilizes these errors in control law that designed in the simulation with tuning in control gains to compute the steering command. The embedded computer then paths this command to Arduino microcontroller board to adjust the steering servomotor. During this work, a set of autonomous driving experiments is performed. Several evaluations scenarios are shown and discussed about lane detection |
| 530 ## - ADDITIONAL PHYSICAL FORM AVAILABLE NOTE | |
| Additional physical form available note | Issued also as CD |
| 653 #4 - INDEX TERM--UNCONTROLLED | |
| Uncontrolled term | Autonomous Vehicle |
| 653 #4 - INDEX TERM--UNCONTROLLED | |
| Uncontrolled term | Modeling and Simulation |
| 653 #4 - INDEX TERM--UNCONTROLLED | |
| Uncontrolled term | Raspberry Pi |
| 700 0# - ADDED ENTRY--PERSONAL NAME | |
| Personal name | Amgad Mohammed Bayoumy , |
| Relator term | |
| 700 0# - ADDED ENTRY--PERSONAL NAME | |
| Personal name | Galal Ali Hassaan , |
| Relator term | |
| 856 ## - ELECTRONIC LOCATION AND ACCESS | |
| Uniform Resource Identifier | <a href="http://172.23.153.220/th.pdf">http://172.23.153.220/th.pdf</a> |
| 905 ## - LOCAL DATA ELEMENT E, LDE (RLIN) | |
| Cataloger | Nazla |
| Reviser | Revisor |
| 905 ## - LOCAL DATA ELEMENT E, LDE (RLIN) | |
| Cataloger | Shimaa |
| Reviser | Cataloger |
| 942 ## - ADDED ENTRY ELEMENTS (KOHA) | |
| Source of classification or shelving scheme | Dewey Decimal Classification |
| Koha item type | Thesis |
| Source of classification or shelving scheme | Not for loan | Home library | Current library | Date acquired | Full call number | Barcode | Date last seen | Koha item type | Copy number |
|---|---|---|---|---|---|---|---|---|---|
| Dewey Decimal Classification | المكتبة المركزبة الجديدة - جامعة القاهرة | قاعة الرسائل الجامعية - الدور الاول | 11.02.2024 | Cai01.13.13.M.Sc.2018.Ah.V | 01010110075701000 | 22.09.2023 | Thesis | ||
| Dewey Decimal Classification | المكتبة المركزبة الجديدة - جامعة القاهرة | مخـــزن الرســائل الجـــامعية - البدروم | 11.02.2024 | Cai01.13.13.M.Sc.2018.Ah.V | 01020110075701000 | 22.09.2023 | CD - Rom | 75701.CD |