Skip to main content
SpringerLink
Log in

Development of an Autonomous Vehicle for High-Speed Navigation and Obstacle Avoidance

  • Chapter
Book cover Intelligent Autonomous Systems 12

Part of the book series: Advances in Intelligent Systems and Computing ((AISC,volume 193))

  • 4236 Accesses

Abstract

This paper introduces the autonomous vehicle named Pharos that participated in 2010 Autonomous Vehicle Competition organized by Hyundai-Kia Automotive Group. Pharos was developed for high-speed on/off-road unmanned driving avoiding diverse patterns of obstacles. For the high speed travelling up to 60 Km/h, long range terrain perception, real-time path planning and high speed vehicle motion control algorithms are developed. This paper describes the major hardware and software components of our vehicle.

This is a preview of subscription content, log in via an institution to check access.

Access this chapter

Log in via an institution
Chapter
USD 29.95
Price excludes VAT (USA)
  • Available as PDF
  • Read on any device
  • Instant download
  • Own it forever
eBook
USD 299.00
Price excludes VAT (USA)
  • Available as PDF
  • Read on any device
  • Instant download
  • Own it forever
Softcover Book
USD 379.99
Price excludes VAT (USA)
  • Compact, lightweight edition
  • Dispatched in 3 to 5 business days
  • Free shipping worldwide - see info

Tax calculation will be finalised at checkout

Purchases are for personal use only

Institutional subscriptions

Preview

Unable to display preview. Download preview PDF.

Unable to display preview. Download preview PDF.

References

  1. Buehler, M., Iagnemma, K., Singh, S.: The 2005 DARPA grand challenge: the great robot race. Springer Trats in Advnaced Robotics, vol. 36. Springer, Berlin (2007)

    Book  Google Scholar 

  2. Elfes, A.: Using occupancy grids for mobile robot perception and navigation. Computer 22(6), 46–57 (1989)

    Article  Google Scholar 

  3. Dolgov, D., Thrun, S., Montemerlo, M., Diebel, J.: Practical Search Techniques in Path Planning for Autonomous Driving. In: Proceedings of the First International Symposium on Search Techniques in Artificial Intelligence and Robotics (2008)

    Google Scholar 

  4. Frazzoli, E., Dahleh, M.A., Feron, E.: Real-time motion planning for agile autonomous vehicles. AIAA Journal of Guidance and Control 25(1), 116–129 (2002)

    Article  Google Scholar 

  5. Kelly, A.: A partial analysis of the high speed autonomous navigation problem, Project report of “Perception for Outdoor Navigation” and “Unmanned Ground Vehicle System,” Carnegie Mellon University (1994)

    Google Scholar 

  6. Kuwata, Y., Fiore, G.A., Teo, J., Frazzoli, E., How, J.P.: Motion planning for urban driving using RRT. In: Proc. IROS, pp. 1681–1686 (2008)

    Google Scholar 

  7. LaValle, S.M., Kuffner, J.J.: Randomized kinodynamic planning. International Journal of Robotics Research 20(5), 378–400 (2001)

    Article  Google Scholar 

  8. Thrun, S., et al.: Stanley: The Robot that Won the DARPA Grand Challenge. Journal of Field Robotics 23(9), 661–692 (2006)

    Article  Google Scholar 

  9. Urmson, C., et al.: A robust approach to high-speed navigation for unrehearsed desert terrain. Journal of Field Robotics 23(8), 427–508 (2006)

    Article  Google Scholar 

  10. Urmson, C., et al.: Autonomous driving in urban environments: Boss and the Urban Challenge. Journal of Field Robotics 25(8), 425–466 (2008)

    Article  Google Scholar 

  11. (in Korean), http://www.hyundai-ngv.com/techcontest/

Download references

Author information

Authors and Affiliations

  1. Korea University of Technology and Education, Cheonan, South Korea

    Jee-Hwan Ryu, Dmitriy Ogay, Sergey Bulavintsev, Hyuk Kim & Jang-Sik Park

Authors
  1. Jee-Hwan Ryu
    View author publications

    You can also search for this author in PubMed Google Scholar

  2. Dmitriy Ogay
    View author publications

    You can also search for this author in PubMed Google Scholar

  3. Sergey Bulavintsev
    View author publications

    You can also search for this author in PubMed Google Scholar

  4. Hyuk Kim
    View author publications

    You can also search for this author in PubMed Google Scholar

  5. Jang-Sik Park
    View author publications

    You can also search for this author in PubMed Google Scholar

Corresponding author

Correspondence to Jee-Hwan Ryu .

Editor information

Editors and Affiliations

  1. , School of Information and Communication, Sungkyunkwan University, 300 Chunchun-Dong Jangan-Ku, Kyunggi-Do, 440-746, Korea, Republic of (South Korea)

    Sukhan Lee

  2. Science and Technology, Daegu Gyeongbuk Institute of, 50-1, Sang-Ri, Hyeonpung-Myeon, Dalseong-Gun, Daegu, 711-873, Korea, Republic of (South Korea)

    Hyungsuck Cho

  3. Konkuk University, Neungdong-ro, Gwangjin-gu 120, Seoul, 143-701, Korea, Republic of (South Korea)

    Kwang-Joon Yoon

  4. , Department of Electronics Engineering, Pusan National University, Geum Jeong-ku, Pusan, 609-735, Korea, Republic of (South Korea)

    Jangmyung Lee

Rights and permissions

Reprints and permissions

Copyright information

© 2013 Springer-Verlag Berlin Heidelberg

About this chapter

Cite this chapter

Ryu, JH., Ogay, D., Bulavintsev, S., Kim, H., Park, JS. (2013). Development of an Autonomous Vehicle for High-Speed Navigation and Obstacle Avoidance. In: Lee, S., Cho, H., Yoon, KJ., Lee, J. (eds) Intelligent Autonomous Systems 12. Advances in Intelligent Systems and Computing, vol 193. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-33926-4_9

Download citation

  • DOI: https://doi.org/10.1007/978-3-642-33926-4_9

  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-642-33925-7

  • Online ISBN: 978-3-642-33926-4

  • eBook Packages: EngineeringEngineering (R0)

Publish with us

Policies and ethics

Search

Navigation