An Obstacle Detection Algorithm Based on Ultrasonic Sensors for Autonomous Land Vehicle

DOI

10.2991/mcae-16.2016.35How to use a DOI?

Keywords

Autonomous Land Vehicle; ultrasonic sensor; obstacle detection; dynamic filtering

Abstract

An dynamic filtering based obstacle detection algorithm is proposed for the navigation and control of Autonomous Land Vehicle (ALV). The algorithm detects the obstacles using sequential sonar data from dual sonar sensors. The sonar model is described at first. Then the obstacles' features, depicted as lines, are extracted. Finally a dynamic data filtering algorithm is described, in which the sonar return data is firstly processed through dynamic filtering using the orientation and the trajectory information of the vehicle. The algorithm's validity is approved through a field test in cross-country environment.

Copyright

© 2016, the Authors. Published by Atlantis Press.

Open Access

This is an open access article distributed under the CC BY-NC license (http://creativecommons.org/licenses/by-nc/4.0/).

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TY  - CONF
AU  - Huihai Cui
AU  - Yan Li
AU  - Jinze Liu
PY  - 2016/07
DA  - 2016/07
TI  - An Obstacle Detection Algorithm Based on Ultrasonic Sensors for Autonomous Land Vehicle
BT  - Proceedings of the 2016 International Conference on Mechatronics, Control and Automation Engineering
PB  - Atlantis Press
SP  - 147
EP  - 150
SN  - 2352-5401
UR  - https://doi.org/10.2991/mcae-16.2016.35
DO  - 10.2991/mcae-16.2016.35
ID  - Cui2016/07
ER  -