Perception, planning and supervisory control of an unmanned vehicle for 2010 World Expo

In this paper, we describe a resort vehicle with the capability of automated driving and maneuvers in a restricted zones such as parks, exhibitions, and resorts. This work was motivated by the event of 2010 World Expo to be held in Shanghai, China. The development of an unmanned vehicle is a complex process. Therefore, the focus of this paper is on the perception, planning and control. We will discuss the details of our adopted solutions, and present some real experimental results.