COLLISION AVOIDANCE BY A MODIFIED LEAST-MEAN-SQUARE-ERROR CLASSIFICATION SCHEME FOR INDOOR AUTONOMOUS LAND VEHICLE NAVIGATION

Abstract

In this article, a new collision-avoidance scheme is proposed for autonomous land vehicle (ALV) navigation in indoor corridors. The goal is to conduct indoor collision-free navigation of a three-wheel ALV among static obstacles with no a priori position information as well as moving obstacles with unknown trajectories. Based on the predicted positions of obstacles, a local collision-free path is computed by the use of a modified version of the least-mean-square-error (LMSE) classifier in pattern recognition. Wall and obstacle boundaries are sampled as a set of 2D coordinates, which are then viewed as feature points. Different weights are assigned to different feature points according to the distances of the feature points to the ALV location to reflect the locality of path planning. The trajectory of each obstacle is predicted by a real-time LMSE estimation method. And the maneuvering board technique used for nautical navigation is employed to determine the speed of the ALV for each navigation cycle. Smooth collision-free paths found in the simulation results are presented to show the feasibility of the proposed approach.