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CajunBot: Architecture and Algorithms

  • Arun Lakhotia
  • Suresh Golconda
  • Anthony Maida
  • Pablo Mejia
  • Amit Puntambeker
  • Guna Seetharaman
  • Scott Wilson
Part of the Springer Tracts in Advanced Robotics book series (STAR, volume 36)

Abstract

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 ATV. Transformation of the ATV to an AGV (Autonomous Ground Vehicle) required adding drive-by-wire control, LIDAR sensors, an 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.

Keywords

Obstacle Detection Global Point Warning Region Navigation Plan Autonomous Ground Vehicle 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.

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Copyright information

© Springer-Verlag Berlin Heidelberg 2007

Authors and Affiliations

  • Arun Lakhotia
    • 1
  • Suresh Golconda
    • 1
  • Anthony Maida
    • 1
  • Pablo Mejia
    • 2
  • Amit Puntambeker
    • 1
  • Guna Seetharaman
    • 3
  • Scott Wilson
    • 4
  1. 1.Computer Science DepartmentUniversity of Louisiana at LafayetteLafayette
  2. 2.C&C Technologies, Inc.Lafayette
  3. 3.Air Force Institute of TechnologyWright Patterson Air Force Base
  4. 4.Center for Advanced Computer StudiesUniversity of Louisiana at LafayetteLafayette

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