Safe Robot Driving in Cluttered Environments

Chuck Thorpe, Justin David Carlson, David Duggins, Jay Gowdy, Robert MacLachlan, Christoph Mertz, Arne Suppe, and Chieh-Chih Wang
Proceedings of the 11th International Symposium of Robotics Research, October, 2003.


Download
  • Adobe portable document format (pdf) (349KB)
Copyright notice: This material is presented to ensure timely dissemination of scholarly and technical work. Copyright and all rights therein are retained by authors or by other copyright holders. All persons copying this information are expected to adhere to the terms and constraints invoked by each author's copyright. These works may not be reposted without the explicit permission of the copyright holder.

Abstract
The Navlab group at Carnegie Mellon University has a long history of development of automated vehicles and intelligent systems for driver assistance. The earlier work of the group concentrated on road following, cross-country driving, and obstacle detection. The new focus is on short-range sensing, to look all around the vehicle for safe driving. The current system uses video sensing, laser rangefinders, a novel light-stripe rangefinder, software to process each sensor individually, and a map-based fusion system. The complete system has been demonstrated on the Navlab 11 vehicle for monitoring the environment of a vehicle driving through a cluttered urban environment, detecting and tracking fixed objects, moving objects, pedestrians, curbs, and roads.

Notes
Associated Center(s) / Consortia: Vision and Autonomous Systems Center and Field Robotics Center
Associated Lab(s) / Group(s): NavLab
Associated Project(s): Transit Bus Collision Warning Systems and CTA Robotics

Text Reference
Chuck Thorpe, Justin David Carlson, David Duggins, Jay Gowdy, Robert MacLachlan, Christoph Mertz, Arne Suppe, and Chieh-Chih Wang, "Safe Robot Driving in Cluttered Environments," Proceedings of the 11th International Symposium of Robotics Research, October, 2003.

BibTeX Reference
@inproceedings{Thorpe_2003_4471,
   author = "Chuck Thorpe and Justin David Carlson and David Duggins and Jay Gowdy and Robert MacLachlan and Christoph Mertz and Arne Suppe and Chieh-Chih Wang",
   title = "Safe Robot Driving in Cluttered Environments",
   booktitle = "Proceedings of the 11th International Symposium of Robotics Research",
   month = "October",
   year = "2003",
}