Unmanned vehicle obstacle avoidance using single sensor scan method and danger zone estimation

Tz Jian Lin, Ta-Chung Wang

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

This paper proposes an obstacle avoidance algorithm for unmanned vehicles in unknown environment by a single sensor. The scan system is composed of an ultrasonic sensor and a servo motor which rotates from 0 to 180 degrees to obtain the distance data, and the profile of the obstacle can be depicted by a histogram which we use to find out the boundary of the obstacle. In this avoidance algorithm we will use the danger zone concept to judge whether the obstacle will cause a possible collision. The danger zone concept surrounds the vehicle by a sphere and uses the relative velocity to calculate the area in which obstacles will collide with the vehicle within a pre-specified time period. Combining the profile of the boundary of the obstacle with the danger zone concept, we can determine the maneuvers to avoid collisions.

Original languageEnglish
Title of host publicationInnovation for Applied Science and Technology
Pages1976-1980
Number of pages5
DOIs
Publication statusPublished - 2013 Feb 20
Event2nd International Conference on Engineering and Technology Innovation 2012, ICETI 2012 - Kaohsiung, Taiwan
Duration: 2012 Nov 22012 Nov 6

Publication series

NameApplied Mechanics and Materials
Volume284-287
ISSN (Print)1660-9336
ISSN (Electronic)1662-7482

Other

Other2nd International Conference on Engineering and Technology Innovation 2012, ICETI 2012
CountryTaiwan
CityKaohsiung
Period12-11-0212-11-06

Fingerprint

Unmanned vehicles
Collision avoidance
Ultrasonic sensors
Sensors

All Science Journal Classification (ASJC) codes

  • Engineering(all)

Cite this

Lin, T. J., & Wang, T-C. (2013). Unmanned vehicle obstacle avoidance using single sensor scan method and danger zone estimation. In Innovation for Applied Science and Technology (pp. 1976-1980). (Applied Mechanics and Materials; Vol. 284-287). https://doi.org/10.4028/www.scientific.net/AMM.284-287.1976
Lin, Tz Jian ; Wang, Ta-Chung. / Unmanned vehicle obstacle avoidance using single sensor scan method and danger zone estimation. Innovation for Applied Science and Technology. 2013. pp. 1976-1980 (Applied Mechanics and Materials).
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Lin, TJ & Wang, T-C 2013, Unmanned vehicle obstacle avoidance using single sensor scan method and danger zone estimation. in Innovation for Applied Science and Technology. Applied Mechanics and Materials, vol. 284-287, pp. 1976-1980, 2nd International Conference on Engineering and Technology Innovation 2012, ICETI 2012, Kaohsiung, Taiwan, 12-11-02. https://doi.org/10.4028/www.scientific.net/AMM.284-287.1976

Unmanned vehicle obstacle avoidance using single sensor scan method and danger zone estimation. / Lin, Tz Jian; Wang, Ta-Chung.

Innovation for Applied Science and Technology. 2013. p. 1976-1980 (Applied Mechanics and Materials; Vol. 284-287).

Research output: Chapter in Book/Report/Conference proceedingConference contribution

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Lin TJ, Wang T-C. Unmanned vehicle obstacle avoidance using single sensor scan method and danger zone estimation. In Innovation for Applied Science and Technology. 2013. p. 1976-1980. (Applied Mechanics and Materials). https://doi.org/10.4028/www.scientific.net/AMM.284-287.1976