Download Prometheus - Worcester Polytechnic Institute

Abstract
This project focuses on realizing a series of operational improvements for WPI’s unmanned ground vehicle
Prometheus with the end goal of a prize winning entry to the Intelligent Ground Vehicle Challenge. Operational improvements include a practical implementation of stereo vision on an NVIDIA GPU, a more reliable
implementation of line detection, a better approach to mapping and path planning, and a modified system
architecture realized by an easier to work with GPIO implementation. The end result of these improvements
is better autonomy, accessibility, robustness, reliability, and usability for Prometheus.