MOVING OBSTACLE DETECTION ALGORITHM USING CELL DECOMPOSITION METHOD

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MASHHADI BEHROOZ; VESAL MOHAMMAD AMIN

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Paper Information

Journal: Modares Mechanical Engineering Year:2016 | Volume:16 | Issue:8 Page(s): 0-0

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Information Journal Paper

Title

MOVING OBSTACLE DETECTION ALGORITHM USING CELL DECOMPOSITION METHOD

Author(s)

MASHHADI BEHROOZ | VESAL MOHAMMAD AMIN | Issue Writer Certificate

Keywords

ALGORITHMSQ1

CELL DECOMPOSITIONQ1

ROAD MATRIXQ1

LANE CHANGEQ1

Abstract

In this paper, an algorithm to detect obstacles surrounding an autonomous vehicle and the method usedto navigate this vehicle on the road were studied. For this purpose, road was divided into cells in lateraland longitudinal directions. The assumption was that some special tools specify the cells positions andthen full and empty-cell corresponding matrix was generated. In this matrix, full cells were displayedwith digit 1 and empty cells are displayed with digit 0. In the next step, by analyzing the matrix inMATLAB®, the vehicle was navigated. In this analysis, first, the position of the vehicle and theobstacles were identified. Then, based on the road conditions and the obstacles positions, requiredorders to move the vehicle were determined. If a LANE CHANGE is needed, according to the road’scurvature and the distance between the vehicle and the obstacle, appropriate path for the vehicle will bechosen. In this paper, for the first time in autonomous vehicle navigations, the road was considered as a1 and 0 matrix. In this method, the ROAD MATRIX was updated over time and provides the possibility ofanalyzing the vehicle’s movement. In addition, the algorithm used to solve the problem is very simple.

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APA: Copy

MASHHADI, BEHROOZ, & VESAL, MOHAMMAD AMIN. (2016). MOVING OBSTACLE DETECTION ALGORITHM USING CELL DECOMPOSITION METHOD. MODARES MECHANICAL ENGINEERING, 16(8), 0-0. SID. https://sid.ir/paper/358887/en

Vancouver: Copy

MASHHADI BEHROOZ, VESAL MOHAMMAD AMIN. MOVING OBSTACLE DETECTION ALGORITHM USING CELL DECOMPOSITION METHOD. MODARES MECHANICAL ENGINEERING[Internet]. 2016;16(8):0-0. Available from: https://sid.ir/paper/358887/en

IEEE: Copy

BEHROOZ MASHHADI, and MOHAMMAD AMIN VESAL, “MOVING OBSTACLE DETECTION ALGORITHM USING CELL DECOMPOSITION METHOD,” MODARES MECHANICAL ENGINEERING, vol. 16, no. 8, pp. 0–0, 2016, [Online]. Available: https://sid.ir/paper/358887/en

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