An autonomous system was designed and constructed to traverse the hostile desert terrain in the DARPA Grand Challenge robotics competition. Our autonomous system used GPS measurements in conjunction with a laser range finder to determine the passable terrain and to negotiate around natural and man-made obstacles on the route. The primary navigation portion of this system uses a scalable, heuristic array of data, and determines the preferred heading of the vehicle, factoring desired heading from a GPS sensor and obstacle data from a laser range finder. When implemented, this system demonstrated the capability to pass stationary vehicles and navigate sloping terrain while negotiating around fences and towers between sequential GPS waypoints.


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    Titel :

    An autonomous system used in the DARPA Grand Challenge


    Beteiligte:
    Bebel, J.C. (Autor:in) / Howard, N. (Autor:in) / Patel, T. (Autor:in)


    Erscheinungsdatum :

    2004-01-01


    Format / Umfang :

    266318 byte




    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



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