@article{ART003153759},
author={JIN YOUNG HOON and Seunghwa Lee and HyeiKyung Kim},
title={Collision Avoidance Algorithm Using Point Cloud},
journal={Journal of Internet of Things and Convergence},
issn={2466-0078},
year={2024},
volume={10},
number={6},
pages={7-14}
TY - JOUR
AU - JIN YOUNG HOON
AU - Seunghwa Lee
AU - HyeiKyung Kim
TI - Collision Avoidance Algorithm Using Point Cloud
JO - Journal of Internet of Things and Convergence
PY - 2024
VL - 10
IS - 6
PB - The Korea Internet of Things Society
SP - 7
EP - 14
SN - 2466-0078
AB - This paper proposes a collision avoidance algorithm using point clouds in a virtual environment created in Unity. First, random rays are fired from the front of a camera to acquire a point cloud, which is then used to extract the floor and other regions. A direction vector towards the target point is generated from the extracted floor, and based on this vector, a path to the farthest point is constructed using the A* algorithm. Next, each waypoint along the path is filtered by calculating the distance to nearby obstacles, removing waypoints that are too close. The agent follows the filtered waypoints while emitting rays at set angles to the left and right to detect potential obstacles. If an obstacle is detected, the agent rotates in the opposite direction and continues along the waypoint path to avoid the obstacle and reach the target. This algorithm presents an efficient method for combining obstacle avoidance and path optimization in real-time environments, with strong applicability in autonomous driving and robotic navigation systems.
KW - PointCloud;A* Algorithm;WayPoint;Pathfinding;Simulation;Bot;IoT
DO -
UR -
ER -
JIN YOUNG HOON, Seunghwa Lee and HyeiKyung Kim. (2024). Collision Avoidance Algorithm Using Point Cloud. Journal of Internet of Things and Convergence, 10(6), 7-14.
JIN YOUNG HOON, Seunghwa Lee and HyeiKyung Kim. 2024, "Collision Avoidance Algorithm Using Point Cloud", Journal of Internet of Things and Convergence, vol.10, no.6 pp.7-14.
JIN YOUNG HOON, Seunghwa Lee, HyeiKyung Kim "Collision Avoidance Algorithm Using Point Cloud" Journal of Internet of Things and Convergence 10.6 pp.7-14 (2024) : 7.
JIN YOUNG HOON, Seunghwa Lee, HyeiKyung Kim. Collision Avoidance Algorithm Using Point Cloud. 2024; 10(6), 7-14.
JIN YOUNG HOON, Seunghwa Lee and HyeiKyung Kim. "Collision Avoidance Algorithm Using Point Cloud" Journal of Internet of Things and Convergence 10, no.6 (2024) : 7-14.
JIN YOUNG HOON; Seunghwa Lee; HyeiKyung Kim. Collision Avoidance Algorithm Using Point Cloud. Journal of Internet of Things and Convergence, 10(6), 7-14.
JIN YOUNG HOON; Seunghwa Lee; HyeiKyung Kim. Collision Avoidance Algorithm Using Point Cloud. Journal of Internet of Things and Convergence. 2024; 10(6) 7-14.
JIN YOUNG HOON, Seunghwa Lee, HyeiKyung Kim. Collision Avoidance Algorithm Using Point Cloud. 2024; 10(6), 7-14.
JIN YOUNG HOON, Seunghwa Lee and HyeiKyung Kim. "Collision Avoidance Algorithm Using Point Cloud" Journal of Internet of Things and Convergence 10, no.6 (2024) : 7-14.
