An algorithm was developed for the collision free target oriented driving of an autonomous vehicle, using KISMET (Kinematic Simulation, Monitoring, and offline programming Environment for Telerobotics) software and hardware for geometric operations and graphical presentation. The algorithm uses a simple global route planner and creates the global path neglecting the finite vehicle dimensions as input to the sensor based local route planner. The local planner of each time step transforms the sensor pattern, received by a number of ultrasonic sensors to the movement pattern. The target oriented global information influences the local operations. Examples demonstrate that the target is reached collision free and close to the shortest path, even in a labyrinthic environment.


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    Title :

    Simulation der Zielfahrt Eines Autonomen Fahrzeugs in Labyrinthartiger Umgebung durch Kismet (Kismet (Kinematic Simulation, Monitoring and off-Line Programming Environments for Telerobotics): Simulation of the Target-Oriented Driving of an Autonomous Vehicle in a Labyrinthic Environment)


    Contributors:
    H. Knueppel (author) / U. Kuehnapfel (author) / D. Smidt (author)

    Publication date :

    1991


    Size :

    17 pages


    Type of media :

    Report


    Type of material :

    No indication


    Language :

    English