Unmanned ground vehicle: controls and dynamics
Ebrahim Attarwala, Pranav Maheshwari, Kumar Keshav, Pranjal Jain, Arpit Kumar Gupta, Kriti Gupta, Ravi Shanker Yadav · Proceedings of SPIE, the International Society for Optical Engineering/Proceedings of SPIE · 2014
We have developed a ground vehicle capable of maneuvering in an open environment negotiating outdoor obstacle course autonomously carrying a payload by finding colored lanes, obstructions and navigating through GPS waypoints. In this paper, we will be discussing the hardware components like mechanical and electrical design, various sensors used and software components of the vehicle like image processing, environment mapping and navigation algorithms. The vehicle uses its sensors to develop some limited understanding of the environment, which is then used by control algorithms to determine the next action to take in the context of a human provided mission goal.