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Proceedings Paper

Laser-based obstacle detection and avoidance system
Author(s): Mel W. Torrie; Sriharsha Veeramachaneni; Ben A. Abbott
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Paper 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.

Paper Details

Date Published: 12 August 1998
PDF: 6 pages
Proc. SPIE 3366, Robotic and Semi-Robotic Ground Vehicle Technology, (12 August 1998); doi: 10.1117/12.317548
Show Author Affiliations
Mel W. Torrie, Utah State Univ. (United States)
Sriharsha Veeramachaneni, Utah State Univ. (United States)
Ben A. Abbott, Utah State Univ. (United States)

Published in SPIE Proceedings Vol. 3366:
Robotic and Semi-Robotic Ground Vehicle Technology
Grant R. Gerhart; Ben A. Abbott, Editor(s)

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