Autonomous vehicle and planar obstacle recognition method

Details Autonomous vehicle and planar obstacle recognition method Autonomous vehicle and planar obstacle recognition method

2006-02-23

2010-06-22

Tran, Khoi (Department: 3664)

Data processing: generic control systems or specific application

Specific application, apparatus or process

Robot control

C382S103000

Reexamination Certificate

active

07742841

ABSTRACT:
In an autonomous vehicle, position of a planar obstacle such as a wall or a fence having apertures is determined. A horizontal plane is scanned with a laser range tinder so as to acquire positional coordinates of a plurality of scanning points. An element vector is formed with each two scanning points so that one acquired former is used as a start point and the other acquired later as an end point of the vector. A plurality of continuous element vectors which satisfy predetermined conditions is selected among the element vectors, and a scanning segment vector is formed by composition of the selected element vectors. When a length of the scanning segment vector is equal to or longer than a predetermined length, it is possible to recognize that a planar obstacle exists along the scanning segment vector.

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