Driving Pathfinding of Unmanned Autonomous Ground Vehicle using Measurement Data Diffusion

Abstract

The state of road changes quite often due to the automobiles and pedestrians when the main driving unit controls the unmanned autonomous vehicle along the planned path. The vehicle acknowledges of whether there are obstacles on the driving path using a sensor array and creates the new driving path and adaptively updates route to control the vehicle. This research proposes a novel way to find the possible driving path by diffusing the measurement data collected by the sensor array which contains the unscaled info of the detected obstacles. With the possible driving field, we can recognize whether the current path would be affected by the obstacles, and also possibly create a new driving path to avoid them. Using the driving map created by this way, we made a new driving path applying A* algorithm and tested on a unmanned autonomous vehicle (i.e., converted KIA Soul). As a result, after creating the new driving path, we were able to carry out the avoidance driving safely at low speed, also the vehicle drives swiftly and smoothly when we modified the avoidance path within the possible driving field.

Meeting Name

IEEE International Instrumentation and Technology Conference: I2MTC (2011: May 10-12, Binjiang, China)

Department(s)

Electrical and Computer Engineering

Keywords and Phrases

Autonomous Driving; Driving Map; Driving Path; Measurement Data Diffusion; Mechatronics; Path-Planning; Ground Vehicles; Instruments; Measurement Theory; Sensor Arrays; Unmanned Vehicles; Collision Avoidance; Sensing & Actuation

International Standard Book Number (ISBN)

9781424479351; 9781424479337

International Standard Serial Number (ISSN)

1091-5281

Document Type

Article - Conference proceedings

Document Version

Citation

File Type

text

Language(s)

English

Rights

© 2011 Institute of Electrical and Electronics Engineers (IEEE), All rights reserved.

Publication Date

01 May 2011

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