Autonomous Obstacle Avoidance Vehicle Using LIDAR and an Embedded System

摘要

Autonomous miniature vehicles are widely used to test many types of algorithms and simulate the driving behavior as in the real world. In the last decade, several approaches have been proposed for obstacle avoidance in self-driving vehicles. In this paper, we present our autonomous vehicle implementation which gives a solid solution to this problem in an efficient manner, using a Raspberry Pi and a LIDAR module for indoor navigation. Our vehicle is capable of navigating in an unknown environment while avoiding obstacles. Unlike other implementations, our vehicle doesn't use Computer Vision (CV) techniques for obstacle detection but only a single LIDAR sensor and thus can safely navigate in low luminosity enviroments. We perfomed various experiments and verified the success of our implementation.