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Proceedings Paper

Design and realization of an intelligent ground vehicle with modular payloads
Author(s): Mehmet A. Akmanalp; Ryan M. Doherty; Jeffrey Gorges; Peter Kalauskas; Ellen Peterson; Felipe Polido; Stephen S. Nestinger; Taskin Padir
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Paper Abstract

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.

Paper Details

Date Published: 23 January 2012
PDF: 8 pages
Proc. SPIE 8301, Intelligent Robots and Computer Vision XXIX: Algorithms and Techniques, 830110 (23 January 2012); doi: 10.1117/12.909946
Show Author Affiliations
Mehmet A. Akmanalp, Worcester Polytechnic Institute (United States)
Ryan M. Doherty, Worcester Polytechnic Institute (United States)
Jeffrey Gorges, Worcester Polytechnic Institute (United States)
Peter Kalauskas, Worcester Polytechnic Institute (United States)
Ellen Peterson, Worcester Polytechnic Institute (United States)
Felipe Polido, Worcester Polytechnic Institute (United States)
Stephen S. Nestinger, Worcester Polytechnic Institute (United States)
Taskin Padir, Worcester Polytechnic Institute (United States)


Published in SPIE Proceedings Vol. 8301:
Intelligent Robots and Computer Vision XXIX: Algorithms and Techniques
Juha Röning; David P. Casasent, Editor(s)

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