The Transactions of The Korean Institute of Electrical Engineers (전기학회논문지)

The Korean Institute of Electrical Engineers (대한전기학회)
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Development of a Real-Time Collision Avoidance Algorithm for eXperimental Autonomous Vehicle

무인자율차량의 실시간 충돌 회피 알고리즘 개발

  • Published : 2007.07.01
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Abstract

In this paper, a real-time collision avoidance algorithm is proposed for experimental Autonomous Vehicle(XAV). To ensure real-time implementation, a virtual potential field is calculated in one dimensional space. The attractive force is generated by the steering command either transmitted in the remote control station or calculated in the Autonomous Navigation System(ANS) of the XAV. The repulsive force is generated by obstacle information obtained from Laser Range Finder(LRF) mounted on the XAV. Using these attractive and repulsive forces, modified steering, velocity and emergency stop commands are created to avoid obstacles and follow a planned path. The suggested algorithm is inserted as one component in the XAV system. Through various real experiments and technical demonstration using the XAV, the usefulness and practicality of the proposed algorithm are verified.

Keywords

References

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