Light-Weight Solution for High Speed Obstacle Avoidance

Date
2021-07-16
Authors
Journal Title
Journal ISSN
Volume Title
Publisher
IEEE
Abstract
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.
Description
Keywords
Three-dimensional displays, Laser radar, Land vehicles, Collision avoidance, Robots, Aerospace engineering
Citation
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.
URI
https://hdl.handle.net/20.500.14216/1110
DOI
https://doi.org/10.1109/icmae52228.2021.9522547
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