A Real-Time Obstacle Avoidance Method for Autonomous Vehicles Using an Obstacle-Dependent Gaussian Potential Field

Table 1

Experimental results of static obstacle avoidance.

No.	Algorithm	Parameter	Collision	Max. Deviation
1	PFM	= 10	○	3.2 m
2	PFM	= 5	-	3.7 m
3	PFM	= 1	-	4.6 m
4	FGM	= 0.5	-	3.4 m
5	AFPFM	= 100	○	3.2 m
6	AFPFM	= 25	-	3.0 m
7	AFPFM	= 10	-	4.3 m
8	ODG-PF	= 5.0	-	0.6 m