CajunBot: Architecture and algorithms CajunBot, an autonomous ground vehicle and a finalist in the 2005 DARPA Grand Challenge, is built on the chassis of MAX IV, a six-wheeled all-terrain vehicle (ATV). Transformation of the ATV to an autonomous ground vehicle required adding drive-by-wire control, lidar sensors, an inertial navigation system (INS), and a computing system. Significant innovations in the core computational algorithms include an obstacle detection algorithm that takes advantage of shocks and bumps to improve visibility; a path planning algorithm that takes into account the vehicle’s maneuverability limits to generate paths that are navigable at high speed; efficient data structures and algorithms that require just a single Intel Pentium 4 HT 3.2 GHz machine to handle all computations and a middleware layer that transparently distributes the computation to multiple machines, if desired. In addition, CajunBot also features support technologies, such as a simulator, playback of logged data, and live visualization on off-board computers to aid in development, testing, and debugging.

References in zbMATH (referenced in 2 articles , 1 standard article )

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  1. Sprinkle, Jonathan; Eklund, J. Mikael; Gonzalez, Humberto; Grøtli, Esten Ingar; Upcroft, Ben; Makarenko, Alex; Uther, Will; Moser, Michael; Fitch, Robert; Durrant-Whyte, Hugh; Sastry, S. Shankar: Model-based design: a report from the trenches of the DARPA urban challenge (2009) ioport
  2. Lakhotia, Arun; Golconda, Suresh; Maida, Anthony; Mejia, Pablo; Puntambeker, Amit; Seetharaman, Guna; Wilson, Scott: CajunBot: Architecture and algorithms (2006)