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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    Title :

    An autonomous system used in the DARPA Grand Challenge


    Contributors:
    Bebel, J.C. (author) / Howard, N. (author) / Patel, T. (author)


    Publication date :

    2004-01-01


    Size :

    266318 byte




    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



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