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International Journal of Automotive Technology > Volume 4(4); 2003 > Article
International Journal of Automotive Technology 2003;4(4): 173-180.
UNMANNED VEHICLE CONTROL AND MODELING FOR OBSTACLE AVOIDANCE
J. H. KIM, S. G. KIM
Kookmin University
ABSTRACT
Obstacle avoidance is considered one of the key technologies on an unmanned vehicle system. In this paper, we propose a method of obstacle avoidance and it 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. In this paper, we propose a method for vehicle control, modeling, and obstacle avoidance, which are confirmed through vehicle tests.
Key Words: Unmanned vehicle, Lateral control, Longitudinal control, Obstacle avoidance, Ultrasonic sensor, Laser scanner
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