Stopping distance analysis of ladar and stereo for unmanned groundvehicles,

摘要

Abstract: This paper presents an analysis of stopping distances for an unmanned ground vehicle achievable with selected ladar and stereo video sensors. Based on a stop-to-avoid response to detected obstacles, current passive stereo technology and existing ladars provide equivalent safe driving speeds. Only a proposed high-resolution ladar can detect small (8 inch) obstacles far enough ahead to allow driving speeds in excess of 10 miles per hour. The stopping distance analysis relates safe vehicle velocity to obstacle and sensor pixel sizes.!6