A Real-Time Obstacle Avoidance Method for Autonomous Vehicles Using an Obstacle-Dependent Gaussian Potential Field

الملخص EN

A new obstacle avoidance method for autonomous vehicles called obstacle-dependent Gaussian potential field (ODG-PF) was designed and implemented.

It detects obstacles and calculates the likelihood of collision with them.

In this paper, we present a novel attractive field and repulsive field calculation method and direction decision approach.

Simulations and the experiments were carried out and compared with other potential field-based obstacle avoidance methods.

The results show that ODG-PF performed the best in most cases.