GPS Based Waypoint Navigation for an Autonomous Guided Vehicle – Bearcat III
Balaji Sethuramasamyraja · OhioLink ETD Center (Ohio Library and Information Network) · 2003
One of the major challenges in designing intelligent vehicles capable of autonomous travel on highways is reliable global positioning system (GPS) based navigation.GPS extends use, both as geographic information and navigational system for a ground based mobile robot, Bearcat III.Experiments were conducted in Bearcat III, for waypoint navigation using Garmin GPS 76.RS232 interface connects the GPS system to the main control computer.A mapping program defines a desired route and GPS information was used to update the control points of the mobile robot using a reinforcement learning method.Local position updates were used when found in the environment.Extended use of GPS to local vehicle control that requires more resolution that is available from the raw data using the adaptive control method was significant.The systems were tested in July 2002 at the International Ground Robotics Competition.Picture 4.4Action during Navigational Challenge in IGVC 2003 31