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Isaac Miller,
Mark E. Campbell,
Dan Huttenlocher,
Aaron Nathan,
Frank-Robert Kline,
Pete Moran,
Noah Zych,
Brian Schimpf,
Sergei Lupashin,
Ephrahim Garcia,
Jason Catlin, Mike Kurdziel,
Hikaru Fujishima
The DARPA Urban Challenge: Autonomous Vehicles in City Traffic, George Air Force Base, Victorville, California, USA; 01/2009
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Isaac Miller,
Mark Campbell,
Dan Huttenlocher,
Frank-Robert Kline,
Aaron Nathan,
Sergei Lupashin,
Jason Catlin,
Brian Schimpf,
Pete Moran,
Noah Zych,
Ephrahim Garcia, Mike Kurdziel,
Hikaru Fujishima
[show abstract]
[hide abstract]
ABSTRACT: Team Cornell's Skynet is an autonomous Chevrolet Tahoe built to compete in the 2007 DARPA Urban Challenge. Skynet consists of many unique subsystems, including actuation and power distribution designed in-house, a tightly coupled attitude and position estimator, a novel obstacle detection and tracking system, a system for augmenting position estimates with vision-based detection algorithms, a path planner based on physical vehicle constraints and a nonlinear optimization routine, and a state-based reasoning agent for obeying traffic laws. This paper describes these subsystems in detail before discussing the system's overall performance in the National Qualifying Event and the Urban Challenge. Logged data recorded at the National Qualifying Event and the Urban Challenge are presented and used to analyze the system's performance. © 2008 Wiley Periodicals, Inc.
Journal of Field Robotics 07/2008; 25(8):493 - 527. · 2.24 Impact Factor
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Isaac Miller,
Mark E. Campbell,
Dan Huttenlocher,
Frank-Robert Kline,
Aaron Nathan,
Sergei Lupashin,
Jason Catlin,
Brian Schimpf,
Pete Moran,
Noah Zych,
Ephrahim Garcia, Mike Kurdziel,
Hikaru Fujishima
J. Field Robotics. 01/2008; 25:493-527.
