Light-Weight Solution for High Speed Obstacle Avoidance
This paper proposes and evaluates a method of autonomous high-speed maneuvering, while simultaneously implementing an obstacle avoidance technique, in an unknown environment. Maneuvering in this context applies to controlling the Ackermann steering angle and speed of a small Unmanned Ground Vehicle (sUGV). The underlying principle applied in this research is a modified version of the ‘Open Path’ algorithm proposed by Wahlde et al., which processes LiDAR point clouds to make steering decisions. The original ’Open Path’ Algorithm was designed for a differential drive robot while the version proposed in this paper modifes that algorithm to fit an Ackermann steering vehicle.
Three-dimensional displays, Laser radar, Land vehicles, Collision avoidance, Robots, Aerospace engineering
S. Pool and P. Manjunath, "Light-Weight Solution for High Speed Obstacle Avoidance," 2021 12th International Conference on Mechanical and Aerospace Engineering (ICMAE), Athens, Greece, 2021, pp. 445-453, doi: 10.1109/ICMAE52228.2021.9522547.