A Study of the Secure Decision Method for Obstacle Avoidance
Keywords:
Automonous, Decision Making, Cyber Security, Obstacle AvoidanceAbstract
This paper proposes a secure decision making method for obstacle avoidance for bicycle robots using camera, lidar and GPS. Using a camera, a waypoint is generated on a path with a lookahead distance and steering angle can be calculated for path planning. At the intersection, the GPS signal can determine whether to turn or not. For obstacle avoidance, lidar detects the obstacle and calculates the repulsive potential, which is used to calculate the steering angle and speed. Integrating these information from sensors, this paper show the result of simulation that control bicycle robot.
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