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IGVC Architecture

IGVC Architecture. 2010’s Entry WAVE. Vision (Lane Detection). Vision (Obstacles). Proximity Sensor. IMU. Encoders. GPS. E-Stop. Map. Kalman Filter. Sense. Navigation (autonomous, teleoperation ). Plan. Drive Control. Status Indicators (LEDs, buzzer?). Act. Drive (Motors).

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IGVC Architecture

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  1. IGVC Architecture 2010’s Entry WAVE

  2. Vision (Lane Detection) Vision (Obstacles) Proximity Sensor IMU Encoders GPS E-Stop Map Kalman Filter Sense Navigation (autonomous, teleoperation) Plan Drive Control Status Indicators (LEDs, buzzer?) Act Drive (Motors)

  3. Path Planning • Obstacle Course • Lanes • Switchbacks • Navigation Challenge • Shortest path between waypoints

  4. Kalman Filter (Localization) • How can we best determine our current location from on-board sensors?

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