This paper presents an obstacle detection algorithm developed to support obstacle detection and rough terrain conditions. The algorithm is described as a hybrid of grid-based and sensor-based obstacle detection and mapping techniques. The sensors and the 4D- Realtime Control System (RCS) autonomous driving system are described. The obstacle detection algorithm and an evaluation of its performance on artificial and natural obstacles are discussed. The obstacle mapping module is then described, followed by a conclusion and a discussion of future plans.

  • Supplemental Notes:
    • Publication Date: 1998 U.S. Dept. of Commerce, Technology Administration, National Institute of Standards and Technology, Gaithersburg MD
  • Corporate Authors:

    National Institute of Standards and Technology

    Intelligent Systems Division
    Gaithersburg, MD  United States  20899

    Joint Robotics Program (U.S.)

  • Authors:
    • Hong, Tsai-Hong
    • Legowik, Steven
    • Nashman, Marilyn
  • Publication Date: 1998


  • English

Media Info

  • Pagination: 22 p.

Subject/Index Terms

Filing Info

  • Accession Number: 00799486
  • Record Type: Publication
  • Source Agency: UC Berkeley Transportation Library
  • Report/Paper Numbers: NISTIR-6213
  • Files: PATH
  • Created Date: Oct 6 2000 12:00AM