Fast Swarm Based Lane Detection System for Mobile Robot Navigation on Urban Roads

Abstract

The paper presents a swarm based lane detection system which uses cooperating agents acting on different regions of the images obtained from an onboard robot camera. These agents act on the image and communicate with each other to find out the possible location of the lane in the image. The swarm agents finalize their locations based on a set of rules which includes each other’s relative position and their previous locations. The swarm agents place themselves on the lane and generate a guidance path for the robot. This proposed lane detection method is is fast and robust to noises in the image. It is faster than the regression methods commonly used and can overcome the problem of noisy image to a good extent.