Title :
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
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;
DOI :
10.1109/MC.2006.436
