Changelog

Version history for the AV2.

Version 1.0.0 (2024)

Initial release.

Features

• GPS/RTK-based autonomous navigation

• LIDAR obstacle detection with occupancy grids

• YOLOPv2 multi-task perception

• Dynamic Window Approach local planning

• Pure Pursuit path tracking

• Real-time visualization tools

Hardware Support

• Xsens MTi-630 AHRS/GPS

• Velodyne VLP-16 LIDAR

• Intel RealSense D435 camera

• Teensy 4.1 CAN interface

Previous Versions

Development History

• Research and development at Cal Poly Pomona Autonomous Vehicle Laboratory

• Multiple prototype iterations

• Extensive testing and validation