Abstract
The Sci Autonics vehicles in the DARPA Grand Challenge employ a combination of Lidar and Radar sensors for far look-ahead distance and a suite of ultrasonic and optical sensors for short-range obstacle detection. A pinhole camera is used to detect visual path boundaries. The vehicle is a 4-wheel drive ruggedized All-Terrain-Vehicle (ATV). A differential GPS in conjunction with inertial sensors provides input to the low-level vehicle control to keep the vehicle on course between a series of closely spaced waypoints.
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