In 2003, the Defense Advanced Research Projects Agency (DARPA) initiated a series of competitions aimed at the rapid technological advancement of autonomous vehicle control. The first such event, the 'DARPA Grand Challenge', led to the development of vehicles that could confidently follow a 131 mile desert trail at average velocities nearing 20 mph. The 'DARPA Urban Challenge', which took place on November 3, 2007, brought about vehicles that could navigate in traffic in a mock urban environment. This paper describes the architecture of an autonomous vehicle capable of navigating urban environments. In doing so, the vehicle is able to select its own routes, perceive and interact with other traffic, and execute various urban driving skills including lane changes, uturns, parking, and merging into moving traffic. The vehicle successfully participated in the DARPA Urban Challenge, a robot competition organized by the U.S. Government.
Junior, the Stanford racing team's robot in the 2007 DARPA Urban Challenge
Junior, der Roboter des Stanford-Rennteams für die DARPA Urban Challenge 2007
2008
17 Seiten, 21 Bilder, 8 Quellen
Conference paper
English
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