Improved Turning Angle Calculation for an Unmanned Ground Vehicle
Avirup Kumar Gupta, Subrat Kumar Swain, Sudhanshu Mishra, Tamal Datta, Sarbani Chakraborty · 2019 International Conference on Vision Towards Emerging Trends in Communication and Networking (ViTECoN) · 2019
This paper focuses on the calculation of turning angle for an unmanned ground vehicle equipped with ultrasonic sensors for static obstacle avoidance. An improved method for evaluating the turning angle is proposed based on the concept of forward safe path. The proposed algorithm can direct the unmanned ground vehicle to turn at a certain angle, thereby avoiding the obstacle with minimum number of iterations compared to the well developed algorithms available in the literature.