Real-time collision avoidance method for unmanned ground vehicle

2008 International Conference on Control, Automation and Systems, ICCAS 2008

Volumn , Issue , 2008, Pages 843-846

  Choe, TokSon ^a   Hur, Jin Wook ^a   Chae, Jeong Sook ^a   Park, Yong Woon ^a  

^a Agency for Defence Development   (South Korea)

Author keywords

Autonomous navigation; Collision avoidance; Path planning; Unmanned ground vehicle

Indexed keywords

AUTOMOBILE PARTS AND EQUIPMENT; AUTOMOBILE STEERING EQUIPMENT; INTELLIGENT VEHICLE HIGHWAY SYSTEMS; NAVIGATION; NAVIGATION SYSTEMS; REAL TIME CONTROL; REMOTELY OPERATED VEHICLES; STEERING; UNMANNED VEHICLES; VEHICLES;

AUTONOMOUS NAVIGATION; AUTONOMOUS NAVIGATION SYSTEMS; AUTONOMOUS VEHICLES; CONTROL STATIONS; DIMENSIONAL SPACES; EMERGENCY STOPS; FORCE FIELDS; LASER RANGE FINDERS; PATH PLANNING; RANGE DATUMS; REAL EXPERIMENTS; UNMANNED GROUND VEHICLE; UNMANNED GROUND VEHICLES; VIRTUAL FORCE FIELDS;

GROUND VEHICLES;

EID: 58149101556     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/ICCAS.2008.4694616     Document Type: Conference Paper

References (7)

1. Y. Koren and J. Borenstein, "Potential field methods and their inherent limitations for mobile robot navigation," Proceedings of IEEE Robotics and Automation Conference, pp. 1398-1404, Sacramento, CA, April 7-12, 1991.
2. Veelaert, P., Bogaerts, W., "Ultrasonic potential field sensor for obstacle avoidance," IEEE Transactions on Robotics and Automation, Vol. 15, Issue 4, pp. 774-779, August, 1999.
3. Tsourveloudis, N. C, Valavanis, K. P., Hebert, T., "Autonomous vehicle navigation utilizing electrostatic potential field and fuzzy logic," IEEE Transactions on Robotics and Automation, Vol. 17, Issue 4, pp. 490-497, August, 2001.
4. J. Borenstein, Y. Koren, "The vector field histogram-fast obstacle avoidance for mobile robot," IEEE Journal of Robotics and Automation, Vol. 7, No. 3, pp. 278-288, June, 1991.
5. Ulrich, I., Borenstein. J., "VFH+: local obstacle avoidance for fast mobile robots," Proceedings of IEEE Robotics and Automation Conference, Vol. 2, pp. 1572-1577, 16-20, May 1998.
6. Ulrich, I., Borenstein. J., "VFH*: local obstacle avoidance with look-ahead verification," Proceedings of IEEE Robotics and Automation Conference, Vol. 3, pp. 572-577, 24-28 April, 2000.
7. http://www.jauswg.org, Reference Architecture Specification Volume II, Part 1-3.