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Autonomous Motion of a Driverless Vehicle operating among Dynamic Obstacles

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4 Author(s)
Myers, T.J. ; Intelligent Control Systems Laboratory of Griffith University, QLD Australia (email: ; Noel, T. ; Parent, M. ; Vlacic, L.

This paper presents a new approach to the problem of dynamic obstacle avoidance. Our developed approach, the Gradient Velocity Obstacle algorithm, has been designed specifically to operate in real-time on a non-holonomic car-like vehicle with a Ladar sensor being used for obstacle detection. The algorithm has been demonstrated both through simulation tests and operation on a test vehicle platform.

Published in:

Decision and Control, 2005 and 2005 European Control Conference. CDC-ECC '05. 44th IEEE Conference on

Date of Conference:

12-15 Dec. 2005