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.
An Obstacle Avoidance Algorithm For An Autonomous Land Vehicle
Mobile Robots I ; 1986 ; Cambridge,MA,United States
Proc. SPIE ; 0727 ; 117
1987-02-25
Conference paper
Electronic Resource
English
Obstacle avoidance perception processing for the autonomous land vehicle
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