| Popis: |
This paper presents an obstacle detection algorithm developed to support obstacle detection and rough terrain conditions. The algorithm is described as a hybrid of grid-based and sensor-based obstacle detection and mapping techniques. The sensors and the 4D- Realtime Control System (RCS) autonomous driving system are described. The obstacle detection algorithm and an evaluation of its performance on artificial and natural obstacles are discussed. The obstacle mapping module is then described, followed by a conclusion and a discussion of future plans. |
