a vision-guided autonomous vehicle project developed at California State University is described in this article. In these devices, an ordinary radio-controlled toy car is fitted with a charge-coupled device (CCD) camera and a transmitter.The tasks of control of the car and the Image processing are done by the PC. The camera captures the image of the road and transmits it to the PC via a transmitter–receiver pair at 900 MHz. The image is digitised by a frame grabber board.An image-processing program subsequently analyzes the road condition and generates adequate drive commands. Then these commands are transmitted back to the vehicle through the radio controller which is built in. The programs are written to compete in racing or maze solving. This article presents the detailed software and hardware

THE PROPOSED VISION-GUIDED
AUTONOMOUS VEHICLE COMPETITION
CCD cameras, frame grabbers, and related products are used in this competetion.
Vehicle
radio-controlled toy car is used. There is a steering mechanism witha gear train. three C batteries is sued.
Camera
black and white CCD camera with
a built-in wide angle lens is used. The main reason for choosing this is that it is inexpensive.
Transmitter/Receiver Pair
It can deliver quality video signal at 900 MHz with a range of 125 ft.
Frequency Demodulator
The receiver output is given to a VCR which produces an RS-170 video signal on its VIDEO OUT connector which is taken in
Video Frame Grabber
a low-cost video frame grabber was built from scratch.
Interface to the Hand-Held Controller

for more details, see this report:
http://mediafire?82eohdgx2fgo2p2