Design and realization of an intelligent ground vehicle with modular payloads
Mehmet Ali Akmanalp, Ryan Marie Doherty, Jeffrey Joseph Gorges, Peter Scott Kalauskas, Ellen Elizabeth Peterson, Felipe Polido, Stephen S. Nestinger, Taşkın Padır · Proceedings of SPIE, the International Society for Optical Engineering/Proceedings of SPIE · 2012
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.