ALX: autonomous vehicle guidance for roadway following and obstacle avoidance
Yufeng Du, Bill Schiller, Donald G. Krantz, Craig R. Shankwitz, Max Donath · 2002
This paper presents results of research done on an Autonomous Land Experimental Vehicle (ALX). ALX is able to autonomously follow roadways through the use of a vision system and to execute obstacle detection and collision avoidance using a suite of range sensors. This paper describes the embedded real-time control system for ALX based on a multiprocessor, multitasking architecture and presents the algorithms that were used for visual perception, path tracking, obstacle detection and collision avoidance. Experimental results are also presented.