This report describes range data based obstacle avoidance techniques developed for use on an autonomous road-following robot vehicle. The purpose of these techniques is to detect and locate obstacles present in a road environment for navigation of a robot vehicle equipped with an active laser-based range sensor. Techniques are presented for obstacle detection, obstacle location, and coordinate transformations needed in the construction of Scene Models (symbolic structures representing the 3-D obstacle boundaries used by the vehicle's Navigator for path planning). These techniques have been successfully tested on an outdoor robotic vehicle, the Autonomous Land Vehicle (ALV), at speeds up to 3.5 km/hour.
Obstacle Avoidance On Roadways Using Range Data
Mobile Robots I ; 1986 ; Cambridge,MA,United States
Proc. SPIE ; 0727
25.02.1987
Aufsatz (Konferenz)
Elektronische Ressource
Englisch
Europäisches Patentamt | 2021
|Europäisches Patentamt | 2020
|Europäisches Patentamt | 2020
|Chassis obstacle avoidance system and obstacle avoidance method
Europäisches Patentamt | 2023
|OBSTACLE AVOIDANCE DEVICE, OBSTACLE AVOIDANCE SYSTEM AND PROGRAM
Europäisches Patentamt | 2017
|