Autonomous Motion of a Driverless Vehicle operating among Dynamic Obstacles
Thomas J. Myers, Tony Noël, Michel Parent, Ljubo Vlacic · 2006
This paper presents a new approach to the problem of dynamic obstacle avoidance. Our developed approach, the Gradient Velocity Obstacle algorithm, has been designed specifically to operate in real-time on a non-holonomic car-like vehicle with a Ladar sensor being used for obstacle detection. The algorithm has been demonstrated both through simulation tests and operation on a test vehicle platform.