Light-Weight Solution for High Speed Obstacle Avoidance

Contributing USMA Research Unit(s)

Robotics Research Center

Publication Date


Publication Title

12th International Conference on Mechanical and Aerospace Engineering (ICMAE)

Document Type

Conference Proceeding


This paper proposes and evaluates a method of autonomous high-speed maneuvering, while simultaneously implementing an obstacle avoidance technique, in an unknown environment. Maneuvering in this context applies to controlling the Ackermann steering angle and speed of a small Unmanned Ground Vehicle (sUGV). The underlying principle applied in this research is a modified version of the ‘Open Path’ algorithm proposed by Wahlde et al., which processes LiDAR point clouds to make steering decisions. The original ’Open Path’ Algorithm was designed for a differential drive robot while the version proposed in this paper modifes that algorithm to fit an Ackermann steering vehicle.

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