An Obstacle Avoidance Algorithm For An Autonomous Land Vehicle
Tsu-Shuan Chang, Ke Qiang Qiu, J.J. Nitao · Proceedings of SPIE, the International Society for Optical Engineering/Proceedings of SPIE · 1987
An improved obstacle avoidance algorithm for the reflexive pilot in the FMC autonomous land vehicle is presented. To perform the obstacle avoidance operation, the specia] structure of the local map derived from sonic sensor information is used to find a collision-free path. This is done by first reducing the vehicle to a line model to obtain an equivalent problem with enlarged obstacles, and then dealing with the free space directly.