Abstract
This paper describes a project to design and build an autonomous ground vehicle at Wayne State University, Detroit, Michigan. The vehicle is designed using mechanical and electrical devices commonly found in today's industrial control applications. A four-wheel golf cart is used as a base vehicle. This base vehicle will be modified so that an intelligent navigating system will autonomously navigate it along an obstacle course laid out on grass. The navigating system will consist of a smart sensing system (including a vision system and distance/range sensors), a powering system (including electrical motors to run and to turn wheels), and a host processing system which interfaces with these sensing and powering systems. The vehicle will be build for dual purposes: (1) to compete in the annual International Autonomous Vehicle Competition, and (2) to research on practical open outdoor applications such as autonomous lawnmowing, autonomous soil preparation, and autonomous ground preparation at baseball parks.