A Supervised Learning Model for AGV Perception in Unstructured Environment

Abstract

This chapter focuses on an Autonomous Ground Vehicle (AGV), also known as intelligent vehicle, which is a vehicle that can navigate without human supervision. AGV navigation over an unstructured road is a challenging task and is known research problem. This chapter is to detect road area from an unstructured environment by applying a proposed classification model. The Proposed model is sub divided into three stages: (1) - preprocessing has been performed in the initial stage; (2) - road area clustering has been done in the second stage; (3) - Finally, road pixel classification has been achieved. Furthermore, combination of classification as well as clustering is used in achieving our goals. K-means clustering algorithm is used to discover biggest cluster from road scene, second big cluster area has been classified as road or non road by using the well-known technique support vector machine. The Proposed approach is validated from extensive experiments carried out on RGB dataset, which shows that the successful detection of road area and is robust against diverse road conditions such as unstructured nature, different weather and lightening variations.