스테레오 기반의 장애물 회피 알고리듬

Obstacle Avoidance Algorithm using Stereo

  • 김세선 (서울산업대학교 자동차공학과) ;
  • 김현수 (서울산업대학교 자동차공학과) ;
  • 하종은 (서울산업대학교 자동차공학과)
  • 발행 : 2009.01.01


This paper deals with obstacle avoidance for unmanned vehicle using stereo system. The "DARPA Grand Challenge 2005" shows that the robot can move autonomously under given waypoint. RADAR, IMS (Inertial Measurement System), GPS, camera are used for autonomous navigation. In this paper, we focus on stereo system for autonomous navigation. Our approach is based on Singh et. al. [5]'s approach that is successfully used in an unmanned vehicle and a planetary robot. We propose an improved algorithm for obstacle avoidance by modifying the cost function of Singh et. al. [5]. Proposed algorithm gives more sharp contrast in choosing local path for obstacle avoidance and it is verified in experimental results.


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