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Trajectory Generation and Control Methodology for an Autonomous Ground Vehicle

The Overbot, originally designed to compete in the DARPA Grand Challenge, has been retasked as a testbed for autonomous vehicle research. A complete platform, the vehicle allows for development and validation of new control algorithms, actuators and sensors by allowing integration into an existing architecture. An overview of the vehicle is provided, describing the interaction of hardware and software. A new method is developed for manipulating spline-based paths in obstacle rich environments. The generated trajectories are forwarded to a new controller developed for the vehicle to follow the given paths. Various control techniques are tested on the vehicle and both the path planning and control are validated on a 600m offroad course.