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Development of a Real-Time Collision Avoidance Algorithm for eXperimental Autonomous Vehicle  

Choe, Tok-Son (국방과학연구소)
Publication Information
The Transactions of The Korean Institute of Electrical Engineers / v.56, no.7, 2007 , pp. 1302-1308 More about this Journal
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
Unmanned Vehicle; Autonomous Navigation; Path Planning; Collision Avoidance;
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Times Cited By KSCI : 2  (Citation Analysis)
Times Cited By SCOPUS : 0
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