Laser-based obstacle detection and avoidance system

Mel W. Torrie; Sriharsha Veeramachaneni; Ben A. Abbott

doi:10.1117/12.317548

12 August 1998 Laser-based obstacle detection and avoidance system

Mel W. Torrie, Sriharsha Veeramachaneni, Ben A. Abbott

Proceedings Volume 3366, Robotic and Semi-Robotic Ground Vehicle Technology; (1998) https://doi.org/10.1117/12.317548
Event: Aerospace/Defense Sensing and Controls, 1998, Orlando, FL, United States

Abstract

The Center for Self-Organizing and Intelligent Systems at Utah State University has been developing laser-based obstacle detection and avoidance during the past four years. The JPL initially encouraged us down this path to provide an optional software upgrade for its Rocky Rover. The USU system was based on a unique combination of fuzzy logic and a decision tree behavioral technique, and this system provided the Rocky Rover the option of venturing independently beyond the observance of the base station. Shortcomings in the data collection prompted a redesign that included more sophisticated line tracing and filtering methods to locate and track the actual laser lines. The signal to noise ratio problems combined with platform changes lead to the choice of a commercial range finder. The design challenge then became one of system integration including the meting of real time constraints on the current processor platform, and obstacle characterization and avoidance.

Citation Download Citation

Mel W. Torrie, Sriharsha Veeramachaneni, and Ben A. Abbott "Laser-based obstacle detection and avoidance system", Proc. SPIE 3366, Robotic and Semi-Robotic Ground Vehicle Technology, (12 August 1998); https://doi.org/10.1117/12.317548

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