The overall goal for our project is to develop an autonomous golf cart to compete in the 2009 DARPA Mini Grand Challenge. Every year DARPA holds a contest that challenges teams to develop an autonomous automobile to navigate an urban or rural path. The mini grand challenge is similar to this with the exception that instead of developing an automobile, teams are asked to create a robot that is much smaller and inexpensive to navigate a path on a college campus. This year, the competition will be held at Penn State Abington in Abington, Pennsylvania.