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.


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    Title :

    An Obstacle Avoidance Algorithm For An Autonomous Land Vehicle


    Contributors:
    Chang, Tsu-Shuan (author) / Qiu, Ke (author) / Nitao, John J. (author)

    Conference:

    Mobile Robots I ; 1986 ; Cambridge,MA,United States


    Published in:

    Publication date :

    1987-02-25





    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English




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