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Development and Experiences of an Autonomous Vehicle for High-Speed Navigation and Obstacle Avoidance

2012; Springer Nature; Linguagem: Inglês

10.1007/978-3-642-35485-4_8

1860-9503

Jee-Hwan Ryu, Dmitriy Ogay, Sergey Bulavintsev, Hyuk Kim, Jang‐Sik Park,

Robotics and Sensor-Based Localization

This paper introduces the autonomous vehicle Pharos, which participated in the 2010 Autonomous Vehicle Competition organized by Hyundai-Kia motors. Pharos was developed for high-speed on/off-road unmanned driving avoiding diverse patterns of obstacles. For the high speed traveling up to 60 Km/h, long range terrain perception, real-time path planning and high speed vehicle motion control algorithms are developed. This paper describes the major hardware and software components of our vehicle.