Stopping distance analysis of ladar and stereo for unmanned ground vehicles

摘要

Abstract: This paper presents an analysis of stopping distancesfor an unmanned ground vehicle achievable with selectedladar and stereo video sensors. Based on astop-to-avoid response to detected obstacles, currentpassive stereo technology and existing ladars provideequivalent safe driving speeds. Only a proposedhigh-resolution ladar can detect small (8 inch)obstacles far enough ahead to allow driving speeds inexcess of 10 miles per hour. The stopping distanceanalysis relates safe vehicle velocity to obstacle andsensor pixel sizes.!6