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KAT‐5: Robust systems for autonomous vehicle navigation in challenging and unknown terrain
Author(s) -
Trepagnier Paul G.,
Nagel Jorge,
Kinney Powell M.,
Koutsougeras Cris,
Dooner Matthew
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.20128
Subject(s) - terrain , grid , computer science , field (mathematics) , real time computing , control (management) , navigation system , simulation , control engineering , artificial intelligence , engineering , geography , cartography , mathematics , geodesy , pure mathematics
KAT‐5 was the fourth vehicle to make history in DARPA's 2005 Grand Challenge, where for the first time ever, autonomous vehicles were able to travel through 100 miles of rough terrain at average speeds greater than 15 mph. In this paper, we describe the mechanisms and methods that were used to develop the vehicle. We describe the main hardware systems with which the vehicle was outfitted for navigation, computing, and control. We describe the sensors, the computing grid, and the methods that controlled the navigation based on the sensor readings. We also discuss the experiences gained in the course of the development and provide highlights of actual field performance. © 2006 Wiley Periodicals, Inc.