UNMANNED VEHICLE CONTROL AND MODELING FOR OBSTACLE AVOIDANCE

  • Kim, S.-G. (Graduate School of Automotive Engineering, Kookmin University) ;
  • Kim, J.-H. (Graduate School of Automotive Engineering, Kookmin University)
  • Published : 2003.12.01

Abstract

Obstacle avoidance is considered as one of the key technologies in an unmanned vehicle system. In this paper, we propose a method of obstacle avoidance, which can be expressed as vehicle control, modeling, and sensor experiments. Obstacle avoidance consists of two parts: one longitudinal control system for acceleration; and deceleration and a lateral control system 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. The method proposed for vehicle control, modeling, and obstacle avoidance has been confirmed through vehicle tests.

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