ALX: autonomous vehicle guidance for roadway following and obstacle avoidance

Author

Du, Yu-feng ; Schiller, Bill ; Krantz, Don ; Shankwitz, Craig ; Donath, Max

Author_Institution

Dept. of Mech. Eng., Minnesota Univ., Minneapolis, MN, USA

Volume

1

fYear

1995

fDate

22-25 Oct 1995

Firstpage

364

Abstract

This paper presents results of research done on an Autonomous Land Experimental Vehicle (ALX). ALX is able to autonomously follow roadways through the use of a vision system and to execute obstacle detection and collision avoidance using a suite of range sensors. This paper describes the embedded real-time control system for ALX based on a multiprocessor, multitasking architecture and presents the algorithms that were used for visual perception, path tracking, obstacle detection and collision avoidance. Experimental results are also presented

Keywords

mobile robots; multiprocessing systems; multiprogramming; path planning; real-time systems; road vehicles; robot vision; ALX; Autonomous Land Experimental Vehicle; autonomous vehicle guidance; collision avoidance; embedded real-time control system; multiprocessor multitasking architecture; obstacle avoidance; obstacle detection; path tracking; roadway following; vision system; visual perception; Collision avoidance; Control systems; Land vehicles; Machine vision; Mobile robots; Navigation; Real time systems; Remotely operated vehicles; Road vehicles; Sensor systems;

fLanguage

English

Publisher

ieee

Conference_Titel

Systems, Man and Cybernetics, 1995. Intelligent Systems for the 21st Century., IEEE International Conference on

Conference_Location

Vancouver, BC

Print_ISBN

0-7803-2559-1

Type

conf

DOI

10.1109/ICSMC.1995.537786

Filename

537786