Autonomous vehicles for advanced robotics applications require accurate world modeling using sensors and built in algorithms to undertake collision avoidance around obstacles. This paper describes the physical attributes of a prototype mobile vehicle using synchronized dc motor drives, and a number of methods for the on-line planning of obstacle avoidance. Measurements of the efficiency of the paths described using each collision avoidance method are quantified using a number of metrics discussed in the paper.
Collision avoidance tests using the Charlie_1 Trike vehicle
Intelligent Robots and Computer Vision XI: Algorithms, Techniques, and Active Vision ; 1992 ; Boston,MA,United States
Proc. SPIE ; 1825
1992-11-01
Aufsatz (Konferenz)
Elektronische Ressource
Englisch