Obstacle avoidance algorithm using stereo

Se Sun Kim; Hyun Soo Kim; Jong Eun Ha

doi:10.5302/J.ICROS.2009.15.1.089

Obstacle avoidance algorithm using stereo

Se Sun Kim, Hyun Soo Kim, Jong Eun Ha

Dept. of Mechanical & Automotive Engineering

Seoul National University of Science and Technology (SNUST)

Research output: Contribution to journal › Article › peer-review

Abstract

This paper deals with obstacle avoidance for unmanned vehicle using stereo system. The "DARPA Grand Challenge 2005" shows that the robot can move autonomously under given waypoint. RADAR, IMS (Inertial Measurement System), GPS, camera are used for autonomous navigation. In this paper, we focus on stereo system for autonomous navigation. Our approach is based on Singh et. al. [5]'s approach that is successfully used in an unmanned vehicle and a planetary robot. We propose an improved algorithm for obstacle avoidance by modifying the cost function of Singh et. al. [5]. Proposed algorithm gives more sharp contrast in choosing local path for obstacle avoidance and it is verified in experimental results.

Original language	English
Pages (from-to)	89-93
Number of pages	5
Journal	Journal of Institute of Control, Robotics and Systems
Volume	15
Issue number	1
DOIs	https://doi.org/10.5302/J.ICROS.2009.15.1.089
State	Published - Jan 2009

Keywords

Obstacle avoidance
Stereo vision
Traversability
Unmanned vehicle

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10.5302/J.ICROS.2009.15.1.089

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Obstacle avoidance algorithm using stereo

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Keywords

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