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Proceedings Paper

Autonomous vehicle maneuvering
Author(s): Karen I. Trovato
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Paper Abstract

This paper describes a method to automatically generate optimal, collision-free maneuvers for a vehicle to follow. The technique requires information about the vehicle dimensions, wheel layout and turning radius, so that the vehicle's kinematic capabilities can be computed automatically. Locations of obstacles in the maneuvering environment must also be given. The maneuver computed is kinematically feasible, and is given in terms of the control parameters of the vehicle, namely steering angle and forward/backward motion. The method includes techniques for transforming obstacles, performing cost wave propagation, and using kinematically correct neighborhoods to generate an augmented configuration space specific to a vehicle. With this structure, the vehicle can move from any starting position, correct for run-time deviations, and drive to the goal position. A 1/10 scale radio-controlled testbed is used to verify that the theoretical path can indeed be carried out in practice.

Paper Details

Date Published: 14 February 1992
PDF: 12 pages
Proc. SPIE 1613, Mobile Robots VI, (14 February 1992); doi: 10.1117/12.135170
Show Author Affiliations
Karen I. Trovato, Philips Labs. (United States)

Published in SPIE Proceedings Vol. 1613:
Mobile Robots VI
William J. Wolfe; Wendell H. Chun, Editor(s)

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