Graphics enhanced version of this site

Sonar Based Outdoor Vehicle Navigation and Collision Avoidance
D. Langer and C. Thorpe
Proceedings of the 1992 lEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '92), Vol. 2, July, 1992, pp. 1445 -1450.

Jump to: Download | Abstract | Notes | Text Reference | BibTeX Reference

Adobe portable document format (pdf) [614 KB]

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.

Detecting unexpected obstacles and avoiding collisions is an important task for any autonomous mobile system. This paper describes an approach uslng a sonar system that we implemented for the autonomous land vehicle Navlab. The general hardware configuration of the system is shown, followed by a description of how the system builds a local grid map of its environment. The information collected in the map can then be used for a variety of applications in vehicle navigation like collision avoidance, feature tracking and parking. A slmple algorithm was Implemented that can track a static feature such as a rail, wall or an array of parked cars and use this information to drive the vehicle. Methods for filtering the raw data and generating the steering commands are discussed and the implementation for collision avoidance and its integration with other vehicle systems is described.

Associated center: VASC
Associated lab/group: NavLab

D. Langer and C. Thorpe, "Sonar Based Outdoor Vehicle Navigation and Collision Avoidance," Proceedings of the 1992 lEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '92), Vol. 2, July, 1992, pp. 1445 -1450.

@inproceedings{Langer_1992_1640,
   author = "Dirk Langer and Chuck Thorpe",
   title = "Sonar Based Outdoor Vehicle Navigation and Collision Avoidance",
   booktitle = "Proceedings of the 1992 lEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '92)",
   month = "July",
   year = "1992",
   volume = "2",
   pages = "1445 -1450"
}