AMZ Driverless: The full autonomous racing system

被引：64

作者：

Kabzan, Juraj ^{[1
]}

Valls, Miguel I. ^{[1
]}

Reijgwart, Victor J. F. ^{[1
]}

Hendrikx, Hubertus F. C. ^{[1
]}

Ehmke, Claas ^{[1
]}

Prajapat, Manish ^{[1
]}

Buhler, Andreas ^{[1
]}

Gosala, Nikhil ^{[1
]}

Gupta, Mehak ^{[1
]}

Sivanesan, Ramya ^{[1
]}

Dhall, Ankit ^{[1
]}

Chisari, Eugenio ^{[1
]}

Karnchanachari, Napat ^{[1
]}

Brits, Sonja ^{[1
]}

Dangel, Manuel ^{[1
]}

Sa, Inkyu ^{[2
]}

Dube, Renaud ^{[2
]}

Gawel, Abel ^{[2
]}

Pfeiffer, Mark ^{[2
]}

Liniger, Alexander ^{[3
]}

Lygeros, John ^{[3
]}

Siegwart, Roland ^{[2
]}

机构：

[1] Swiss Fed Inst Technol, AMZ Driverless, CH-8092 Zurich, Switzerland

[2] Swiss Fed Inst Technol, Autonomous Syst Lab ASL, Zurich, Switzerland

[3] Swiss Fed Inst Technol, Automat Control Lab IfA, Zurich, Switzerland

来源：

JOURNAL OF FIELD ROBOTICS | 2020年 / 37卷 / 07期

关键词：

SPECIAL-ISSUE; PERCEPTION; DESIGN; LIMITS;

D O I：

10.1002/rob.21977

中图分类号：

TP24 [机器人技术];

学科分类号：

080202 ; 1405 ;

摘要：

This paper presents the algorithms and system architecture of an autonomous racecar. The introduced vehicle is powered by a software stack designed for robustness, reliability, and extensibility. To autonomously race around a previously unknown track, the proposed solution combines state of the art techniques from different fields of robotics. Specifically, perception, estimation, and control are incorporated into one high-performance autonomous racecar. This complex robotic system, developed by AMZ Driverless and ETH Zurich, finished first overall at each competition we attended: Formula Student Germany 2017, Formula Student Italy 2018 and Formula Student Germany 2018. We discuss the findings and learnings from these competitions and present an experimental evaluation of each module of our solution.

引用

页码：1267 / 1294

页数：28

共 65 条

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