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collisions Is an Important task for any autonomous mobile system. Thls paper describes an apprvach uslng a sonar system that we Implemented for the autonomous land vehlcle Navlab. The general hardware configuration of the system ls shown, followed by a description of how the system buikb a local grid map of its envlronment. The Information collected In the map can then be used for a varkty of a plications in vehlcle navigation Uke colllslon avoidance, gaturn tracking and parking. A slmple algorithm was Implemented that can track a static feature such as a rail, wall or an array of parked cars and use this Information to drlve the vehlcle. Methods for Illterlng the raw data and generatlng the steerlng commands BIP discussed and the Implementation for collision avoidance and
Langer et al. (Wed,) studied this question.