Design and realization of an intelligent ground vehicle with modular payloads

Mehmet A. Akmanalp; Ryan M. Doherty; Jeffrey Gorges; Peter Kalauskas; Ellen Peterson; Felipe Polido; Stephen S. Nestinger; Taskin Padir

doi:10.1117/12.909946

23 January 2012 Design and realization of an intelligent ground vehicle with modular payloads

Mehmet A. Akmanalp, Ryan M. Doherty, Jeffrey Gorges, Peter Kalauskas, Ellen Peterson, Felipe Polido, Stephen S. Nestinger, Taskin Padir

Author Affiliations +

Proceedings Volume 8301, Intelligent Robots and Computer Vision XXIX: Algorithms and Techniques; 830110 (2012) https://doi.org/10.1117/12.909946
Event: IS&T/SPIE Electronic Imaging, 2012, Burlingame, California, United States

Abstract

In June 2011, Worcester Polytechnic Institute's (WPI) unmanned ground vehicle Prometheus participated in the 8th Annual Robotic Lawnmower and 19th Annual Intelligent Ground Vehicle Competitions back-to-back. This paper details the two-year design and development cycle for WPI's intelligent ground vehicle, Prometheus. The on-board intelligence algorithms include lane detection, obstacle avoidance, path planning, world representation and waypoint navigation. The authors present experimental results and discuss practical implementations of the intelligence algorithms used on the robot.

Citation Download Citation

Mehmet A. Akmanalp, Ryan M. Doherty, Jeffrey Gorges, Peter Kalauskas, Ellen Peterson, Felipe Polido, Stephen S. Nestinger, and Taskin Padir "Design and realization of an intelligent ground vehicle with modular payloads", Proc. SPIE 8301, Intelligent Robots and Computer Vision XXIX: Algorithms and Techniques, 830110 (23 January 2012); https://doi.org/10.1117/12.909946

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