This report describes Team Caltech's technical approach and results for the 2007 DARPA Urban Challenge. Our primary technical thrusts were in three areas: (1) mission and contingency management for autonomous systems; (2) distributed sensor fusion, mapping and situational awareness; and (3) optimization-based guidance, navigation and control. Our autonomous vehicle, Alice, demonstrated new capabilities in each of these areas and drove approximate 300 autonomous miles in preparation for the race. The vehicle completed 2 of the 3 qualification tests, but did not ultimately qualify for the race due to poor performance in the merging tests at the National Qualifying Event.
Sensing, Navigation and Reasoning Technologies for the DARPA Urban Challenge
2007
42 pages
Report
Keine Angabe
Englisch
Computers, Control & Information Theory , Navigation Systems , Psychology , Urban & Regional Technology & Development , Reasoning , Situational awareness , Sensor fusion , Methodology , Navigation , Autonomous navigation , Mapping , Guidance , Optimization , 2007 darpa urban challenge , Autonomous systems , Distributed sensor fusion , Contingency mangement , Mission management
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