ALX : autonomous vehicle guidance for roadway following and obstacle avoidance

This report presents results of the research performed on the Autonomous Land Experimental Vehicle (ALX) at the University of Minnesota. ALX autonomously follows roadways through the use of visual perception, and executes obstacle detection and collision avoidance through the use of ultrasonic sonar range sensors. This report describes the ALX embedded real-time control system based on a multi-processor, multi-tasking architecture, and presents algorithms used for visual perception, path tracking, position estimation, obstacle detection, and collision avoidance. Computer simulation and experimental results also are presented.