An Obstacle Avoidance Algorithm For An Autonomous Land Vehicle

Tsu-Shuan Chang; Ke Qiu; John J. Nitao

doi:10.1117/12.937790

25 February 1987 An Obstacle Avoidance Algorithm For An Autonomous Land Vehicle

Tsu-Shuan Chang, Ke Qiu, John J. Nitao

Proceedings Volume 0727, Mobile Robots I; (1987) https://doi.org/10.1117/12.937790
Event: Cambridge Symposium_Intelligent Robotics Systems, 1986, Cambridge, MA, United States

Abstract

An improved obstacle avoidance algorithm for the reflexive pilot in the FMC autonomous land vehicle is presented. To perform the obstacle avoidance operation, the specia] structure of the local map derived from sonic sensor information is used to find a collision-free path. This is done by first reducing the vehicle to a line model to obtain an equivalent problem with enlarged obstacles, and then dealing with the free space directly.

Citation Download Citation

Tsu-Shuan Chang, Ke Qiu, and John J. Nitao "An Obstacle Avoidance Algorithm For An Autonomous Land Vehicle", Proc. SPIE 0727, Mobile Robots I, (25 February 1987); https://doi.org/10.1117/12.937790

ACCESS THE FULL ARTICLE

INSTITUTIONAL
Select your institution to access the SPIE Digital Library.

SELECT YOUR INSTITUTION

PERSONAL
Sign in with your SPIE account to access your personal subscriptions or to use specific features such as save to my library, sign up for alerts, save searches, etc.

PERSONAL SIGN IN

No SPIE Account? Create one

PURCHASE THIS CONTENT

SUBSCRIBE TO DIGITAL LIBRARY

50 downloads per 1-year subscription

Members: $195

Non-members: $335 ADD TO CART

25 downloads per 1 - year subscription

Members: $145

Non-members: $250 ADD TO CART

PURCHASE SINGLE ARTICLE

Includes PDF, HTML & Video, when available