Perception and Planning Architecture for Autonomous Ground Vehicles

Author

Touchton, Bob ; Galluzzo, Tom ; Kent, Danny ; Crane, Carl

Author_Institution

Center for Intelligent Machines & Robotics, Florida Univ., FL

Volume

39

Issue

12

fYear

2006

Firstpage

40

Lastpage

47

Abstract

By combining smart sensors and traversability grids with a JAUS-based component and messaging architecture, DARPA Grand Challenge finalist team CIMAR quickly developed a robust autonomous ground vehicle (AGV), a custom-built off-road vehicle. Key components included six smart sensors for detecting environmental conditions and reporting a priori data, a smart arbiter for fusing data from multiple smart sensors, and a reactive driver for providing real-time navigation planning and obstacle avoidance

Keywords

collision avoidance; intelligent sensors; mobile robots; road vehicles; sensor fusion; software architecture; JAUS-based component architecture; autonomous ground vehicle; data fusion; messaging architecture; obstacle avoidance; real-time navigation planning; smart arbiter; smart sensor; traversability grid; Automotive engineering; Component architectures; Hardware; Intelligent sensors; Land vehicles; Navigation; Performance evaluation; Road vehicles; Sensor systems; Software architecture; Autonomous vehicles; DARPA Grand Challenge; Team CIMAR; Unmanned vehicles;

fLanguage

English

Journal_Title

Computer

Publisher

ieee

ISSN

0018-9162

Type

jour

DOI

10.1109/MC.2006.436

Filename

4039244