This paper presents results of research done on an Autonomous Land Experimental Vehicle (ALX). ALX is able to autonomously follow roadways through the use of a vision system and to execute obstacle detection and collision avoidance using a suite of range sensors. This paper describes the embedded real-time control system for ALX based on a multi-processor, multi-tasking architecture and presents the algorithms that were used for visual perception, path tracking, obstacle detection and collision avoidance. Experimental results are also presented.
|Original language||English (US)|
|Number of pages||7|
|Journal||Proceedings of the IEEE International Conference on Systems, Man and Cybernetics|
|State||Published - Dec 1 1995|
|Event||Proceedings of the 1995 IEEE International Conference on Systems, Man and Cybernetics. Part 2 (of 5) - Vancouver, BC, Can|
Duration: Oct 22 1995 → Oct 25 1995