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Team CIMAR's NaviGator: An unmanned ground vehicle for the 2005 DARPA grand challenge
Author(s) -
Crane III Carl D.,
Armstrong II David G.,
Touchton Robert,
Galluzzo Tom,
Solanki Sanjay,
Lee Jaesang,
Kent Daniel,
Ahmed Maryum,
Montane Roberto,
Ridgeway Shan,
Velat Steve,
Garcia Greg,
Griffis Michael,
Gray Sarah,
Washburn John,
Routson Gregory
Publication year - 2006
Publication title -
journal of field robotics
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 1.152
H-Index - 96
eISSN - 1556-4967
pISSN - 1556-4959
DOI - 10.1002/rob.20127
Subject(s) - event (particle physics) , architecture , systems engineering , unmanned ground vehicle , real time computing , engineering , systems architecture , computer science , motion planning , joint (building) , embedded system , control engineering , artificial intelligence , simulation , robot , art , physics , quantum mechanics , visual arts , architectural engineering
This paper describes the development of an autonomous vehicle system that participated in the 2005 DARPA Grand Challenge event. After a brief description of the event, the architecture, based on version 3.2 of the Department of Defense Joint Architecture for Unmanned Systems, and the design of the system are presented in detail. In particular, the “smart sensor” concept is introduced which provided a standardized means for each sensor to present data for rapid integration and arbitration. Information about the vehicle design, system localization, perception sensors, and the dynamic planning algorithms that were used is then presented in detail. Subsequently, testing results and performance results are presented. © 2006 Wiley Periodicals, Inc.