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Proceedings Paper

Unmanned ground vehicle: controls and dynamics
Author(s): Ebrahim Attarwala; Pranav Maheshwari; Kumar Keshav; Pranjal Jain; Arpit Gupta; Kriti Gupta; Ravi Yadav
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Paper Abstract

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.

Paper Details

Date Published: 3 February 2014
PDF: 9 pages
Proc. SPIE 9025, Intelligent Robots and Computer Vision XXXI: Algorithms and Techniques, 90250Z (3 February 2014); doi: 10.1117/12.2045434
Show Author Affiliations
Ebrahim Attarwala, Indian Institute of Technology Bombay (India)
Pranav Maheshwari, Indian Institute of Technology Bombay (India)
Kumar Keshav, Indian Institute of Technology Bombay (India)
Pranjal Jain, Indian Institute of Technology Bombay (India)
Arpit Gupta, Indian Institute of Technology Bombay (India)
Kriti Gupta, Indian Institute of Technology Bombay (India)
Ravi Yadav, Indian Institute of Technology Bombay (India)


Published in SPIE Proceedings Vol. 9025:
Intelligent Robots and Computer Vision XXXI: Algorithms and Techniques
Juha Röning; David Casasent, Editor(s)

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