The idea of this project is that of using different sensor modalities and multi-algorithm approaches to detect the various kinds of obstacles and to build an obstacle database that can be used for vehicle control. For instance, bearing and distance to the nearest collision can be estimated and used by the path planner to change route or to lower the speed if an obstacle is in close proximity to the vehicle’s planned path. Road and cliff edges should be handled as special cases since the consequences to the vehicle of breaching a cliff edge are very severe.