Safe Robot Driving in Cluttered Environments
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.
BibTeX
@conference{Thorpe-2003-8767,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 11th International Symposium of Robotics Research (ISRR '03)},
year = {2003},
month = {October},
pages = {271 - 280},
}