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Alice: An information-rich autonomous vehicle for high-speed desert navigation |
Abstract |
This paper describes the implementation an … This paper describes the implementation and testing of Alice, the California Institute of Technology’s entry in the 2005 DARPA Grand Challenge. Alice utilizes a highly networked control system architecture to provide high performance, autonomous driving in unknown en- vironments. Innovations include a vehicle architecture designed for efficient testing in harsh environments, a highly sensory-driven approach to fuse sensor data into speed maps used by real-time trajectory optimization algorithms, health and contingency management algorithms to manage failures at the component and system level, and a software logging and display envi- ronment that enables rapid assessment of performance during testing. The system successfully completed several runs in the National Qualifying Event, but encountered a combination of sens- ing and control issues in the Grand Challenge Event that led to a critical failure after traversing approximately 8 miles. re after traversing approximately 8 miles. +
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Authors | C Rasmussen, A Stewart, J Burdick, Richard M Murray + |
ID | 2005t + |
Source | Journal of Field Robotics, 23(9):777-810 + |
Tag | cre+06-jfr + |
Title | Alice: An information-rich autonomous vehicle for high-speed desert navigation + |
Type | Preprint + |
Categories | Papers |
Modification date This property is a special property in this wiki.
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20 August 2016 21:53:29 + |
URL This property is a special property in this wiki.
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http://www.cds.caltech.edu/~murray/preprints/cre+06-jfr.pdf + |
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Alice: An information-rich autonomous vehicle for high-speed desert navigation + | Title |
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