This paper outlines a few of the design and implementation methods of an autonomous mobile robot which is required to move between a series of GPS points avoiding obstacles in its path. The robot features a variety of different hardware and software. The hardware consists of sonar, GPS, motors, PC and a CAN, and the software is a custom built package designed to incorporate them all together. The details of the paper outline the reasons for the robot being built. It goes into detail with regards to the hardware implementation of the GPS, the methods used to determine the location of the robot, how the robot moves between waypoints while building up a map of the local space and also the reaction of the robot if dynamic obstacles, such as cars interrupt its path.

 Link to Paper: http://blogs.msdn.com/chrisforster/pages/SCARP2005.aspx

Chris Forster