Experience from the DARPA Urban Challenge

✍ Scribed by Christian Berger, Mike Hinchey, Christopher Rouff (auth.), Christopher Rouff, Mike Hinchey (eds.)

Publisher: Springer London
Year: 2012
Tongue: English
Leaves: 337
Edition: 2012
Category: Library

No coin nor oath required. For personal study only.

✦ Synopsis

Experience from the DARPA Urban Challenge provides details of the types of systems, software and processes that were used to develop the complex unmanned vehicles that participated in the DARPA Urban Challenge. The vehicle developers explain how autonomous vehicle software in this race was designed and implemented. The chapters range from system and software architecture, navigation, path planning, steering, perception, engineering autonomous systems, and testing and performance evaluation.

This book is based on papers from entrants in the Urban Challenge. The content is broken into five parts:

an introduction to the DARPA Urban Challenge;
systems and software architectures;
navigation;
control and sensors; and
development and test.

Experience from the DARPA Urban Challenge provides graduate students in robotics and engineering professionals with an insight into multiple ways of approaching the development of autonomous vehicles.

✦ Table of Contents

Content:
Front Matter....Pages i-xv
Front Matter....Pages 1-1
Introduction....Pages 3-15
Front Matter....Pages 17-17
Software Infrastructure for a Mobile Robot....Pages 19-41
The Sting Racing Team’s Entry to the Urban Challenge....Pages 43-65
Development of the NaviGator for the 2007 DARPA Urban Challenge....Pages 67-90
Front Matter....Pages 91-91
The VictorTango Architecture for Autonomous Navigation in the DARPA Urban Challenge....Pages 93-131
Real-time Obstacles Avoidance for Vehicles in the Urban Grand Challenge....Pages 133-155
Planning Continuous Curvature Paths Using Constructive Polylines....Pages 157-193
Front Matter....Pages 195-195
Steering Controller of the CajunBot-II....Pages 197-208
Vehicle Architecture and Robotic Perception for Autonomous Driving in Urban Environments....Pages 209-239
Front Matter....Pages 241-241
Engineering Autonomous Driving Software....Pages 243-271
Empirical Evaluation of an Autonomous Vehicle in an Urban Environment....Pages 273-301
Back Matter....Pages 303-320

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