This paper describes the implementation and testing of Alice, the California Institute of Technology’s entry in the 2005 DARPA Grand Challenge. Alice utilizes a highly networked control system architecture to provide high performance, autonomous driving in unknown environments. Innovations include a vehicle architecture designed for efficient testing in harsh environments, a highly sensory-driven approach to fuse sensor data into speed maps used by real-time trajectory optimization algorithms, health and contingency management algorithms to manage failures at the component and system level, and a software logging and display environment that enables rapid assessment of performance during testing. The system successfully completed several runs in the National Qualifying Event, but encountered a combination of sensing and control issues in the Grand Challenge Event that led to a critical failure after traversing approximately 8 miles.


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    Titel :

    Alice: An Information-Rich Autonomous Vehicle for High-Speed Desert Navigation


    Beteiligte:
    Buehler, Martin (Herausgeber:in) / Iagnemma, Karl (Herausgeber:in) / Singh, Sanjiv (Herausgeber:in) / Cremean, Lars B. (Autor:in) / Foote, Tully B. (Autor:in) / Gillula, Jeremy H. (Autor:in) / Hines, George H. (Autor:in) / Kogan, Dmitriy (Autor:in) / Kriechbaum, Kristopher L. (Autor:in) / Lamb, Jeffrey C. (Autor:in)


    Erscheinungsdatum :

    2007-01-01


    Format / Umfang :

    46 pages





    Medientyp :

    Aufsatz/Kapitel (Buch)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch





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