DocumentCode :
3052662
Title :
ALX: autonomous vehicle guidance for roadway following and obstacle avoidance
Author :
Du, Yu-feng ; Schiller, Bill ; Krantz, Don ; Shankwitz, Craig ; Donath, Max
Author_Institution :
Dept. of Mech. Eng., Minnesota Univ., Minneapolis, MN, USA
Volume :
1
fYear :
1995
fDate :
22-25 Oct 1995
Firstpage :
364
Abstract :
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
Keywords :
mobile robots; multiprocessing systems; multiprogramming; path planning; real-time systems; road vehicles; robot vision; ALX; Autonomous Land Experimental Vehicle; autonomous vehicle guidance; collision avoidance; embedded real-time control system; multiprocessor multitasking architecture; obstacle avoidance; obstacle detection; path tracking; roadway following; vision system; visual perception; Collision avoidance; Control systems; Land vehicles; Machine vision; Mobile robots; Navigation; Real time systems; Remotely operated vehicles; Road vehicles; Sensor systems;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Systems, Man and Cybernetics, 1995. Intelligent Systems for the 21st Century., IEEE International Conference on
Conference_Location :
Vancouver, BC
Print_ISBN :
0-7803-2559-1
Type :
conf
DOI :
10.1109/ICSMC.1995.537786
Filename :
537786
Link To Document :
بازگشت