Sensing, Navigation and Reasoning Technologies for the DARPA Urban Challenge

Download or read book Sensing, Navigation and Reasoning Technologies for the DARPA Urban Challenge written by and published by . This book was released on 2007 with total page 42 pages. Available in PDF, EPUB and Kindle. Book excerpt: This report describes Team Caltech's technical approach and results for the 2007 DARPA Urban Challenge. Our primary technical thrusts were in three areas: (1) mission and contingency management for autonomous systems; (2) distributed sensor fusion, mapping and situational awareness; and (3) optimization-based guidance, navigation and control. Our autonomous vehicle, Alice, demonstrated new capabilities in each of these areas and drove approximate 300 autonomous miles in preparation for the race. The vehicle completed 2 of the 3 qualification tests, but did not ultimately qualify for the race due to poor performance in the merging tests at the National Qualifying Event.