QUT ePrints

Empirical evaluation of an autonomous vehicle in an urban environment

Upcroft, Ben, Makarenko, Alexei , Brooks, Alex , Moser, Michael , Alempijevic, Alen , Donikian, Ashod , Sprinkle, Jonathan , Uther, William , & Fitch, Robert (2011) Empirical evaluation of an autonomous vehicle in an urban environment. In Rouff, Chirstopher & Hinchey, Mike (Eds.) Experience from the DARPA Urban Challenge. Springer. (In Press)

[img] Accepted Version (PDF 7MB)
Administrators only | Request a copy from author

    View at publisher

    Abstract

    Operation in urban environments creates unique challenges for research in autonomous ground vehicles. Due to the presence of tall trees and buildings in close proximity to traversable areas, GPS outage is likely to be frequent and physical hazards pose real threats to autonomous systems. In this paper, we describe a novel autonomous platform developed by the Sydney-Berkeley Driving Team for entry into the 2007 DARPA Urban Challenge competition. We report empirical results analyzing the performance of the vehicle while navigating a 560-meter test loop multiple times in an actual urban setting with severe GPS outage. We show that our system is robust against failure of global position estimates and can reliably traverse standard two-lane road networks using vision for localization. Finally, we discuss ongoing efforts in fusing vision data with other sensing modalities.

    Impact and interest:

    Citation countsare sourced monthly from Scopus and Web of Science® citation databases.

    These databases contain citations from different subsets of available publications and different time periods and thus the citation count from each is usually different. Some works are not in either database and no count is displayed. Scopus includes citations from articles published in 1996 onwards, and Web of Science® generally from 1980 onwards.

    Citations counts from the Google Scholar™ indexing service can be viewed at the linked Google Scholar™ search.

    ID Code: 43742
    Item Type: Book Chapter
    ISBN: 9780857297716
    Subjects: Australian and New Zealand Standard Research Classification > ENGINEERING (090000) > ELECTRICAL AND ELECTRONIC ENGINEERING (090600) > Control Systems Robotics and Automation (090602)
    Divisions: Past > QUT Faculties & Divisions > Faculty of Built Environment and Engineering
    Copyright Owner: Copyright 2011 Please consult the authors.
    Deposited On: 03 Aug 2011 17:20
    Last Modified: 03 Aug 2011 17:21

    Export: EndNote | Dublin Core | BibTeX

    Repository Staff Only: item control page