TY - GEN
T1 - Unmanned vehicle obstacle avoidance using single sensor scan method and danger zone estimation
AU - Lin, Tz Jian
AU - Wang, Ta Chung
N1 - Copyright:
Copyright 2013 Elsevier B.V., All rights reserved.
PY - 2013
Y1 - 2013
N2 - 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.
AB - 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.
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U2 - 10.4028/www.scientific.net/AMM.284-287.1976
DO - 10.4028/www.scientific.net/AMM.284-287.1976
M3 - Conference contribution
AN - SCOPUS:84873924705
SN - 9783037856123
T3 - Applied Mechanics and Materials
SP - 1976
EP - 1980
BT - Innovation for Applied Science and Technology
T2 - 2nd International Conference on Engineering and Technology Innovation 2012, ICETI 2012
Y2 - 2 November 2012 through 6 November 2012
ER -