Consideration of the systems and components needed to build an Unmanned Autonomous Ground Vehicle (UGV) for the Grand Challenge requires a solid understanding of the competition rules and parameters, the challenges to be faced, and analysis of prior successful/failed attempts.  Since we are in this to win, I won’t be outlining every aspect we’ve considered or our approaches, but I want to build a non-comprehensive list of various systems/components along with some resources regarding technology and concepts that may be new to those looking to merge their team’s off-roading, navigational, robotic, cartography, and other skills into a complete UGV.

This is just a rough beginning and in no way is intended to be comprehensive (or to be overly generous to “the competition”).  Do not expect to find new information here; it’s intended to be the beginning of a consolidated reference for my own use as well as for others.  Be certain to check out DARPA’s resources and those provided by others.

Vehicle -- Since the Grand Challenge rules state that the course is designed so it can be won with a “skilled driver” using a “commercial 4x4”, there is no section on particular vehicle platforms.  (Perhaps we’ll add something later as there’s feedback regarding size advantages, understanding turning radius, grade/slope performance, etc.)

Maneuvering -- The servos and other control systems: Making the vehicle go where you want it to go.

Mapping -- Whether used in preplanning or in-the-field, mapping and cartography will probably be an aspect to your design.

Navigation -- “Which way do I go???” I’m at N34.7607233 x W117.0107599 and want to go to N34.7607515 x W117.0107413.  Which way do I go?  How far away is it? Was that “bearing” or “heading”? “True” or “magnetic”?  Since I can go anywhere within a 30’ wide corridor, what’s the best way to get there? What does the Great Circle have to do with the Grand Challenge?

GPS - Global Positioning System: “Where in the world am I?”

Sensors -- Giving eyes and other “senses” to your UGV.