Abstract
As the sensors and actuators for building an autonomous vehicle are getting increasingly affordable, both industry and research can now leverage on autonomous vehicle platform for various purposes. This paper presents a study of realizing a class of autonomous vehicle called Autonomous Service Vehicle (ASV) in the context of urban road navigation. The goal is to apply autonomous vehicle technology for human service oriented tasks. The ASV design is made for general service vehicles and it is intended to be reusable in term of hardware and software infrastructure. Components of the ASV are presented and experimentation was conducted to validate and evaluate the ASV. Further directions and necessary customization are explained in order to adapt the ASV design for various projects. q1
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