2019/10/11 by Garrison Neel, Neel, Garrison, Amir Darwesh +6
Computer Science · Engineering · #Autonomous Vehicle Technology and Safety #FOS: Computer and information sciences #FOS: Electrical engineering #Robotic Path Planning Algorithms #Robotics (cs.RO) #Robotics and Sensor-Based Localization #Systems and Control (eess.SY) #cs.RO #cs.SY #eess.SY #electronic engineering #information engineering
paper · pdf · doi:10.48550/arxiv.1910.04971
arxiv created 2019/10/11 · openalex publication_date 2019/10/11 · arxiv updated 2019/10/14 · openalex created_date 2025/10/10 · openalex updated_date 2026/07/28
This paper describes an autonomous shuttle which targets providing last-mile transportation. Often, this involves operation in crowded areas with high levels of pedestrian traffic, and little to no lane markings or traffic control. We aim to create a functional shuttle to be improved upon in the future as new robust solutions are developed to replace the current components. An initial implementation of such a shuttle presented, detailing the overall architecture, controller structure, waypoint following, obstacle detection and avoidance, LiDAR based sign detection, and pedestrian communication. The performance of each component is evaluated, and future improvements are discussed.