Unmanned vehicle obstacle detection and avoidance using danger zone approach

Ta Chung Wang, Tz Jian Lin

Research output: Contribution to journalArticlepeer-review

5 Citations (Scopus)


This paper proposes an obstacle avoidance algorithm for unmanned vehicles in unknown environment. The vehicle uses 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. 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 through the intersection of semi-algebraic sets. These semi-algebraic sets use the relative velocity of the obstacle 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, a method for determining the safe maneuvers to avoid collisions is also provided.

Original languageEnglish
Pages (from-to)529-538
Number of pages10
JournalTransactions of the Canadian Society for Mechanical Engineering
Issue number3
Publication statusPublished - 2013

All Science Journal Classification (ASJC) codes

  • Mechanical Engineering


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