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http://dx.doi.org/10.9726/kspse.2012.16.1.084

Researches on Collision Avoidance Algorithms for Autonomous Driving System  

Ahn, D.S. (부경대학교 기계자동차공학과)
Park, G.H. (부경대학교 대학원)
Choi, G.J. ((주)에스피시스템스)
Jeon, S.Y. ((주)대원전자 기술연구소)
Publication Information
Journal of Power System Engineering / v.16, no.1, 2012 , pp. 84-90 More about this Journal
Abstract
In unmanned vehicles' navigation, the shapes of obstacles are generally irregular and complex. The motion of vehicles based on the range sensor system such as ultrasonic sensors or laser sensors can be unstable due to the irregular shape of the obstacles. In this case, to generate stable trajectory of unmanned vehicles equipped with range sensors, we need an approach that can simplify an obstacle's irregular shape information. In this paper, we propose the trajectory generation algorithm that an vehicle can stably navigate in the environments where irregular shaped obstacles are scattered. The proposed method is verified through the analysis of vehicle's trail and direction data acquired by simulations and implementations.
Keywords
Irregular obstacles; Obstacle avoidance; Trajectory generation; Unmanned vehicles;
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