Overview
A ground-up autonomous platform designed for outdoor operation in semi-structured environments. The system integrates localization, path planning, and real-time telemetry into a unified control architecture.
Architecture
The platform uses a layered approach:
- Perception Layer: Sensor fusion combining GNSS, IMU, and environmental sensors for robust localization
- Planning Layer: Waypoint-based mission execution with dynamic replanning capabilities
- Control Layer: Real-time motor control with safety interlocks and watchdog supervision
- Telemetry Layer: Bidirectional communication for remote monitoring and intervention
Constraints
- Operates reliably in GPS-degraded conditions
- Power budget limited to onboard battery capacity
- Must support hot-swap of mission parameters during operation
- Communication latency tolerance under 200ms for operator commands
Outcomes
The platform achieved consistent autonomous traversal across varied terrain with measurable repeatability metrics. The modular architecture enabled rapid iteration on individual subsystems without full system regression.