Student Work

Design and Realization of an Intelligent Ground Vehicle

Public

Downloadable Content

open in viewer

This project focuses on designing and building an unmanned ground vehicle (UGV) which will become WPI's first entry to the IGVC in June 2010. The vehicle power train consists of sealed lead acid batteries, bi-directional DC motor and chain sprocket sets. The software approach employs a stereo image processing implemented on NVIDIA's GPU. The image processing algorithms include segmentation using neural networks, rectification and pixel disparity calculation for line and obstacle distance detection. The sensor fusion technique processed on a National Instruments cRIO controller incorporates data from a LIDAR, differential GPS receiver, wheel encoders, and a compass. The path planning is implemented based on Driving with Tentacles approach.

  • 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
Publisher
Identifier
  • E-project-042910-143753
Advisor
Year
  • 2010
Sponsor
Date created
  • 2010-04-29
Location
  • Worcester
Resource type
Major
Rights statement

Relations

In Collection:

Items

Items

Permanent link to this page: https://digital.wpi.edu/show/t148fj82f