A Real-Time Obstacle Avoidance Method for Autonomous Vehicles Using an Obstacle-Dependent Gaussian Potential Field
Jang-Ho Cho, Dong-Sung Pae, Myo Taeg Lim, Tae‐Koo Kang · Journal of Advanced Transportation · 2018
A new obstacle avoidance method for autonomous vehicles calledobstacle-dependent Gaussian potential field(ODG-PF) was designed and implemented. It detects obstacles and calculates the likelihood of collision with them. In this paper, we present a novel attractive field and repulsive field calculation method and direction decision approach. Simulations and the experiments were carried out and compared with other potential field-based obstacle avoidance methods. The results show that ODG-PF performed the best in most cases.