Title

A Practical Approach To Robotic Design For The Darpa Urban Challenge

Abstract

This article presents a practical approach to engineering a robot to effectively navigate in an urban environment. Inherent in this approach is the use of relatively simple sensors, actuators, and processors to generate robot vision, intelligence and planning. Sensor data is fused from multiple low cost 2-D laser scanners with an innovative rotational mount to provide 3-D coverage with image processing using both range and intensity data. Information is combined with Doppler radar returns to yield a world view processed by a Context-Based Reasoning control system to yield tactical mission commands forwarded to traditional PID control loops. As an example of simplicity and robustness, steering control successfully utilized a relatively simple follow-the-carrot guidance approach that has been successfully demonstrated at speeds of 60 mph. The approach yielded a robot that reached the finals of the Urban Challenge and completed approximately two hours of the event before being forced to withdraw as a result of a GPS data failure. © 2009 Springer-Verlag Berlin Heidelberg.

Publication Date

12-1-2009

Publication Title

Springer Tracts in Advanced Robotics

Volume

56

Number of Pages

305-358

Document Type

Article; Proceedings Paper

Personal Identifier

scopus

DOI Link

https://doi.org/10.1007/978-3-642-03991-1_8

Socpus ID

75649148134 (Scopus)

Source API URL

https://api.elsevier.com/content/abstract/scopus_id/75649148134

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