A collision-free navigation scheme in the presence of moving obstacles

Author

Kehtarnavaz, N. ; Li, S.

Author_Institution

Dept. of Electr. Eng., Texas A&M Univ., College Station, TX, USA

fYear

1988

fDate

5-9 Jun 1988

Firstpage

808

Lastpage

813

Abstract

A collision-free navigation scheme for an autonomous vehicle is presented. An attempt is made toward establishing a more realistic navigational environment by considering moving obstacles with unknown trajectories. A collision-free path between the current location and a desired location of the vehicle is obtained, based on future positions of the obstacles. The future positions are predicted using an autoregressive (AR) model. A simulation example is implemented where this scheme is applied to a mobile robot in the presence of two moving objects

Keywords

artificial intelligence; navigation; pattern recognition; robots; statistical analysis; artificial intelligence; autonomous vehicle; autoregressive model; collision-free navigation; future positions prediction; mobile robot; moving obstacles; path planning; pattern recognition; Acceleration; Mobile robots; Position measurement; Predictive models; Remotely operated vehicles; Sensor systems; Sonar measurements; Sonar navigation; Space exploration; Spaceborne radar;

fLanguage

English

Publisher

ieee

Conference_Titel

Computer Vision and Pattern Recognition, 1988. Proceedings CVPR '88., Computer Society Conference on

Conference_Location

Ann Arbor, MI

ISSN

1063-6919

Print_ISBN

0-8186-0862-5

Type

conf

DOI

10.1109/CVPR.1988.196326

Filename

196326