2006-067 – Software Architecture for high-speed traversal of prescribed routes

Our navigation architecture was designed with the infrastructure to support high-speed navigation while being robust to sensor failures and adaptable enough to support a rapid, relatively unstructured development process. These design goals led to a path-centric navigation architecture, built around a set of well defined, rigid data interfaces. In our path-centric architecture, the fundamental command action is to execute a path. This differs from a majority of autonomous navigation architectures which use an arc as the fundamental action. Reed McManigle reedm@andrew.cmu.edu 412-268-5443