Active cross-path correlation for autonomous vehicle path following

Don Krantz, Maria Gini

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

We have developed and demonstrated a technique to allow a follower vehicle to closely repeat the path established by a leader vehicle. The leader records the range-to-obstruction to either or both sides as well as its own estimated position and orientation. A non-model-based technique is used to correlate the follower's estimate of position to the leader's. The technique is tolerant of changes in the environment between passes of the leader and follower, and eliminates the correspondence problem in a model-based system where both the leader and follower need to correctly identify a particular object as being the same landmark. In this paper, we describe the Active Cross-Path Correlation algorithm and initial experimental results.

Original languageEnglish (US)
Title of host publicationIEEE International Symposium on Intelligent Control - Proceedings
Editors Anon
PublisherIEEE
Pages310-315
Number of pages6
StatePublished - Jan 1 1995
EventProceedings of the 10th IEEE International Symposium on Intelligent Control - Monterey, CA, USA
Duration: Aug 27 1995Aug 29 1995

Other

OtherProceedings of the 10th IEEE International Symposium on Intelligent Control
CityMonterey, CA, USA
Period8/27/958/29/95

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