Abstract
The Intelligent Ground Vehicle Competition (IGVC) is one of three, unmanned systems, student competitions that were founded by the Association for Unmanned Vehicle Systems International in the 1990s. The IGVC challenges engineering student teams to develop, test, and compete with their intelligent vehicles, focusing on a series of autonomous mobility objectives pertaining to advanced control theory, machine vision, vehicular electronics, and mobile platform fundamentals to design and build an unmanned system. The IGVC offers a design experience that is at the very cutting edge of engineering education. Autonomous robots are becoming prevalent in many aspects of modern society and the IGVC, while being in a controlled environment, provides a great example of how self-navigating vehicles could be used, such as going into areas that may pose risk to human life. Our goal is to design and construct a ground vehicle with autonomous capabilities. LIDAR, camera (computer vision), IMU sensor, and GPS enable the vehicle to function autonomously. The vehicle is capable of detecting and following lanes, avoiding obstacles, and tracking GPS coordinates. The entire system is run on the ROS (Robot Operating System), with sensors and actuators acting as nodes that interact with one another.
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