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Proceedings Paper

An Obstacle Avoidance Algorithm For An Autonomous Land Vehicle
Author(s): Tsu-Shuan Chang; Ke Qiu; John J. Nitao
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Paper Abstract

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.

Paper Details

Date Published: 25 February 1987
PDF: 7 pages
Proc. SPIE 0727, Mobile Robots I, (25 February 1987); doi: 10.1117/12.937790
Show Author Affiliations
Tsu-Shuan Chang, University of California (United States)
Ke Qiu, University of California (United States)
John J. Nitao, FMC Corporation (United States)

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

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