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Perception and Planning Architecture for Autonomous Ground Vehicles

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4 Author(s)
Touchton, B. ; Center for Intelligent Machines & Robotics, Florida Univ., FL ; Galluzzo, T. ; Kent, D. ; Crane, C.

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

Published in:

Computer  (Volume:39 ,  Issue: 12 )