PeRL STUDIES AUTONOMOUS NAVIGATION & MAPPING FOR MOBILE ROBOTS IN A PRIORI UNKNOWN ENVIRONMENTS.

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A perspective on emerging automotive safety applications, derived from lessons learned through participation in the DARPA grand challenges

Summary


James R. McBride, Jerome C. Ivan, Doug S. Rhode, Jeffrey D. Rupp, Matthew Y. Rupp, Jeff D. Higgins, Doug D. Turner and Ryan M. Eustice, A perspective on emerging automotive safety applications, derived from lessons learned through participation in the DARPA grand challenges. In The DARPA Urban Challenge - Autonomous Vehicles in City Traffic, page 626.Springer, , November 2009.

Abstract

This paper reports on various aspects of the Intelligent Vehicle Systems (IVS) team's involvement in the recent 2007 DARPA Urban Challenge, wherein our platform, the autonomous "XAV-250," competed as one of the 11 finalists qualifying for the event. We provide a candid discussion of the hardware and software design process that led to our team's entry, along with lessons learned at this event and derived from participation in the two previous Grand Challenges. In addition, we give an overview of our vision-, radar-, and LIDAR-based perceptual sensing suite, its fusion with a military-grade inertial navigation package, and the map-based control and planning architectures used leading up to and during the event. The underlying theme of this article is to elucidate how the development of future automotive safety systems can potentially be accelerated by tackling the technological challenges of autonomous ground vehicle robotics. Of interest, we will discuss how a production manufacturing mindset imposes a unique set of constraints upon approaching the problem, and how this worked for and against us, given the very compressed timeline of the contests.

Bibtex entry

@INCOLLECTION { jmcbride-2009a,
    AUTHOR = { James R. McBride and Jerome C. Ivan and Doug S. Rhode and Jeffrey D. Rupp and Matthew Y. Rupp and Jeff D. Higgins and Doug D. Turner and Ryan M. Eustice },
    EDITOR = { Buehler, Martin and Iagnemma, Karl and Singh, Sanjiv },
    TITLE = { A perspective on emerging automotive safety applications, derived from lessons learned through participation in the {DARPA} grand challenges },
    BOOKTITLE = { The DARPA Urban Challenge - Autonomous Vehicles in City Traffic },
    PUBLISHER = { Springer },
    YEAR = { 2009 },
    MONTH = { November },
    VOLUME = { 56 },
    PAGES = { 626 },
    SERIES = { Springer Tracts in Advanced Robotics },
}