Publication

Autonomous Ground Systems (AGS)
2019

DEVELOPING AUTONOMOUS VEHICLES WITH OPTIMAL SENSOR SELECTION, INTEGRATION & CONTROL IMPLEMENTED AT 2018 INTELLIGENT GROUND VEHICLE COMPETITION (IGVC)

by Andrew Kosinski; Kiran Iyengar; Jane Tarakhovsky; Jerry Lane; KaC Cheok; Bernie Theisen; Sami Oweis

Abstract

The IGVC offers a design experience that is at the very cutting edge of engineering education, with a particular focus in developing engineering control/sensor integration experience for the college student participants. A main challenge area for teams is the proper processing of all the vehicle sensor feeds, optimal integration of the sensor feeds into a world map and the vehicle leveraging that world map to plot a safe course using robust control algorithms. This has been an ongoing challenge throughout the 26 year history of the competition and is a challenge shared with the growing autonomous vehicle industry. High consistency, reliability and redundancy of sensor feeds, accurate sensor fusion and fault-tolerant vehicle controls are critical, as even small misinterpretations can cause catastrophic results, as evidenced by the recent serious vehicle crashes experienced by self-driving companies including Tesla and Uber Optimal control techniques & sensor selection/integration into these autonomous ground vehicles will be the focus of this technical paper.