Environmental Perception and Path Planning Algorithm for Autonomous Off-Road Driving

This paper presents environmental perception, and path planning algorithm for autonomous offroad driving, provided in real-time. Perception algorithm has been designed, consisting of 2 parts, obstacle detecting algorithms using Light Detection and Ranging (LIDAR)s and environment map generation algorithm using ground detection. The path planning algorithm determines desired steering angle and speed of vehicle. Finally speed controller controls throttle and brake module to follow reference speed. The algorithm has been evaluated via computer simulations conducted using the collected data in nonreal- time and implemented on a test vehicle which has 6 LIDARs and real-time (RT) devices including personal computers (PC)s and tested in real-time.

• Availability:
  • Find a library where document is available. Order URL: http://itswc.confex.com/itswc/WC2011/webprogram/start.html
• Supplemental Notes:
  • Abstract reprinted with permission from Intelligent Transportation Society of America.
• Corporate Authors:

  ITS America

  1100 17th Street, NW, 12th Floor
  Washington, DC  United States  20036
• Authors:
  • Kim, Dongwook
  • Choi, Jaewoong
  • Yi, Kyongsu
• Conference:
  • 18th ITS World Congress
  • Location: Orlando Florida, United States
  • Date: 2011-10-16 to 2011-10-20
• Publication Date: 2011

Language

• English

Media Info

• Media Type: Digital/other
• Features: Figures; References;
• Pagination: 12p
• Monograph Title: 18th ITS World Congress, Orlando, 2011. Proceedings

Subject/Index Terms

• TRT Terms: Alertness; Algorithms; All terrain vehicles; Autonomous vehicle guidance; Awareness; Driving; Simulation; Trajectory control
• Subject Areas: Highways; Operations and Traffic Management; Vehicles and Equipment; I91: Vehicle Design and Safety;

Filing Info

• Accession Number: 01450462
• Record Type: Publication
• Files: TRIS
• Created Date: Oct 29 2012 9:25AM