The goal of this project was to design and implement an autonomous robot capable of competing in the 2019 Intelligent Ground Vehicle Competition. The competition outlined several technical requirements including: lane detection and holding, obstacle avoidance, path planning, and GPS navigation. To achieve these tasks a Husky A100 platform was retrofitted with a more powerful computer and integrated with sensors such as a LIDAR, Camera, Satellite Compass, IMU, and GPS. A software architecture was developed based on Robot Operating System to reliably perceive the course lanes and obstacles, localize the robot through sensor fusion, and guide it through each waypoint.

• This report represents the work of one or more WPI undergraduate students submitted to the faculty as evidence of completion of a degree requirement. WPI routinely publishes these reports on its website without editorial or peer review.

Creator

• O'Neil, Sean Thomas
• Landergan, Mark
• Cookson, Aidan U.

Publisher

• Worcester Polytechnic Institute

Identifier

• E-project-042519-123326

Advisor

• Michalson, William R.
• Huang, Xinming

Year

• 2019

Date created

• 2019-04-25

Resource type

• Major Qualifying Project

Major

• Electrical & Computer Engineering
• Robotics Engineering
• Interdisciplinary

Rights statement

• In Copyright