The Development of Obstacle Avoidance Algorithm for Unmanned Vehicle Using Ultrasonic Sensor

  • Yu, Whan-Sin (Graduate School of Automotive Engineering, Kookmin University) ;
  • Lee, Woon-Sung (Graduate School of Automotive Engineering, Kookmin University) ;
  • Kim, Jung-Ha (Graduate School of Automotive Engineering, Kookmin University)
  • Published : 2003.10.22


Obstacle avoidance algorithm is very important on an unmanned vehicle. Therefore, in this research, we propose a algorithm of obstacle avoidance and we can prove through vehicle test and sensor experiments. Obstacle avoidance must be divided into two parts: the first part includes the longitudinal control for acceleration and deceleration and the second part is the lateral control for steering control. Each system is used for unmanned vehicle control, which notes its location, recognizes obstacles surrounding it, and makes a decision how fast to proceed according to circumstances. During the operation, the control strategy of the vehicle can detect obstacles and perform obstacle avoidance on the road, which involves vehicle velocity. In this paper, we propose a method for vehicle control, modeling, and obstacle avoidance, which are confirmed through vehicle tests.