Developing Successful Autonomous Ground Vehicles: Lessons Learned from DARPA Challenges

This paper presents a framework to follow for developing a successful Autonomous Ground Vehicle (AGV). The paper studies AGVs which competed in the 2005 DARPA (Defense Advanced Research Projects Agency) Grand Challenge (DGC05) and 2007 DARPA Urban Challenge (DUC07). The focus would be on the AGVs who managed to finish the challenges successfully and strives to find a common framework for these AGVs. Components of successful vehicles are investigated and presented by the use of examples of how they can be used and implemented.