The goal of this project was to design and implement an autonomous robot capable of competing in the 2019 Intelligent Ground Vehicle Competition. The competition outlined several technical requirements including: lane detection and holding, obstacle avoidance, path planning, and GPS navigation. To achieve these tasks a Husky A100 platform was retrofitted with a more powerful computer and integrated with sensors such as a LIDAR, Camera, Satellite Compass, IMU, and GPS. A software architecture was developed based on Robot Operating System to reliably perceive the course lanes and obstacles, localize the robot through sensor fusion, and guide it through each waypoint
