Collision avoidance tests using the Charlie_1 Trike vehicle
Charles R. Allen, R. West · Proceedings of SPIE, the International Society for Optical Engineering/Proceedings of SPIE · 1992
Autonomous vehicles for advanced robotics applications require accurate world modeling using sensors and built in algorithms to undertake collision avoidance around obstacles. This paper describes the physical attributes of a prototype mobile vehicle using synchronized dc motor drives, and a number of methods for the on-line planning of obstacle avoidance. Measurements of the efficiency of the paths described using each collision avoidance method are quantified using a number of metrics discussed in the paper.