Faculty Advisor

Huang, Xinming

Faculty Advisor

Michalson, William R.

Abstract

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.

Publisher

Worcester Polytechnic Institute

Date Accepted

April 2019

Major

Robotics Engineering

Major

Electrical and Computer Engineering

Major

Interdisciplinary

Project Type

Major Qualifying Project

Accessibility

Unrestricted

Advisor Department

Electrical and Computer Engineering

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