Chapter 47 — Motion Planning and Obstacle Avoidance

Autonomous navigation of a mobile vehicle

This video shows the vision-based autonomous navigation of a Cycab mobile vehicle able to avoid obstacles detected by its laser range finder. The reference trajectory is provided as a sequence of previously-acquired key images. Obstacle avoidance is based on a predefined set of circular avoidance trajectories. The best trajectory is selected when an obstacle is detected by the laser scanner.
Visp team