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 developersexplain 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 testingand performance evaluation. This book is based on papers from entrants in theUrban 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. Provides a variety of approaches for developing unmanned navigational systems, which can be applied to a range of different projects. Gives readers an understanding of how autonomous vehicle software is structured and how they might develop their own vehicles. Written by selected experts in autonomous vehicles. INDICE: Introduction. Software Infrastructure for a Mobile Robot. The Sting Racing Team’s Entry to the Urban Challenge. Development of the NaviGATOR forthe 2007 DARPA Urban Challenge. The VictorTangoArchitecture for Autonomous Navigation in the DARPA Urban Challenge. Real-time Obstacles Avoidance for Vehicles in the Urban Grand Challenge. Planning Continuous Curvature Paths Using Constructive Polylines. Steering Controller of the CajunBot-II. Vehicle Architecture and Robotic Perception for Autonomous Driving in Urban Environments. Engineering Autonomous Driving Software. Empirical Evaluation of an Autonomous Vehicle in an Urban Environment.
- ISBN: 978-0-85729-771-6
- Editorial: Springer London
- Encuadernacion: Cartoné
- Páginas: 317
- Fecha Publicación: 31/08/2011
- Nº Volúmenes: 1
- Idioma: Inglés