Laser-based obstacle avoidance algorithm for four driving/steering wheels autonomous vehicle

In this paper an algorithm for trajectory-tracking with obstacle avoidance for autonomous vehicles is presented. The algorithm tracks a trajectory composed of an intended global trajectory that was previously generated and local obstacle avoidance trajectories that are created when an obstacle is detected by the laser. A discrete-time sliding-mode controller is used by the autonomous vehicle to follow the global trajectory and the local obstacle avoidance trajectories. Quintic equations are used to generate the paths used by the vehicle to avoid the obstacles. The velocity, acceleration, angular velocity and angular acceleration profiles are calculated for the generated paths and fed to the sliding-mode controller.