Title :
Autonomous Motion of a Driverless Vehicle operating among Dynamic Obstacles
Author :
Myers, Toby J. ; Noël, Tony ; Parent, Michel ; Vlacic, Ljubo
Author_Institution :
Intelligent Control Systems Laboratory of Griffith University, QLD Australia (email: toby.myers@student.griffith.edu.au)
Abstract :
This paper presents a new approach to the problem of dynamic obstacle avoidance. Our developed approach, the Gradient Velocity Obstacle algorithm, has been designed specifically to operate in real-time on a non-holonomic car-like vehicle with a Ladar sensor being used for obstacle detection. The algorithm has been demonstrated both through simulation tests and operation on a test vehicle platform.
Keywords :
Algorithm design and analysis; Intelligent sensors; Laser radar; Mobile robots; Path planning; Remotely operated vehicles; Terminology; Testing; Vehicle driving; Vehicle dynamics;
Conference_Titel :
Decision and Control, 2005 and 2005 European Control Conference. CDC-ECC '05. 44th IEEE Conference on
Print_ISBN :
0-7803-9567-0
DOI :
10.1109/CDC.2005.1582966
