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Proceedings Paper

Obstacle Avoidance On Roadways Using Range Data
Author(s): R. Terry Dunlay; David G. Morgenthaler
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Paper 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.

Paper Details

Date Published: 25 February 1987
PDF: 7 pages
Proc. SPIE 0727, Mobile Robots I, (25 February 1987); doi: 10.1117/12.937789
Show Author Affiliations
R. Terry Dunlay, Martin Marietta Denver Aerospace (United States)
David G. Morgenthaler, Martin Marietta Denver Aerospace (United States)


Published in SPIE Proceedings Vol. 0727:
Mobile Robots I
Nelson Marquina; William J. Wolfe, Editor(s)

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