ALX: autonomous vehicle guidance for roadway following and obstacle avoidance

This paper presents results of research done on an Autonomous Land Experimental Vehicle (ALX). ALX is able to autonomously follow roadways through the use of a vision system and to execute obstacle detection and collision avoidance using a suite of range sensors. This paper describes the embedded real-time control system for ALX based on a multiprocessor, multitasking architecture and presents the algorithms that were used for visual perception, path tracking, obstacle detection and collision avoidance. Experimental results are also presented