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)
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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.
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|Item Type:||Book Chapter|
|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|
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