ICAD - An Economical Indoor & Outdoor Delivery Vehicle Capable of Autonomous Navigation

This paper proposes a design for an economical delivery vehicle that is capable of autonomous navigation in both inter- and intra-building environments. The vehicle uses a wide array of sensors and algorithms to achieve this goal. The performance of the system was tested in various indoor and outdoor environments. The vehicle performed quite well outdoors avoiding both a priori known static obstacles as well as dynamic obstacles that presented themselves along the planned path. The performance indoors was reasonable except in narrow corridors which produced obstacle shadows.