Obstacle Avoidance On Roadways Using Range Data

R. Terry Dunlay; David G. Morgenthaler

doi:10.1117/12.937789

25 February 1987 Obstacle Avoidance On Roadways Using Range Data

R. Terry Dunlay, David G. Morgenthaler

Proceedings Volume 0727, Mobile Robots I; (1987) https://doi.org/10.1117/12.937789
Event: Cambridge Symposium_Intelligent Robotics Systems, 1986, Cambridge, MA, United States

Abstract

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.

Citation Download Citation

R. Terry Dunlay and David G. Morgenthaler "Obstacle Avoidance On Roadways Using Range Data", Proc. SPIE 0727, Mobile Robots I, (25 February 1987); https://doi.org/10.1117/12.937789

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