Autonomous Driving in Traffic: Boss and the Urban Challenge

被引：84

作者：

Urmson, Chris ^{[1
]}

Baker, Chris ^{[1
]}

Dolan, John ^{[1
]}

Rybski, Paul ^{[1
]}

Salesky, Bryan ^{[1
]}

Whittaker, William ^{[1
]}

Ferguson, Dave ^{[1
]}

Darms, Michael ^{[1
]}

机构：

[1] Carnegie Mellon Univ, Inst Robot, Natl Robot Engn Ctr, Pittsburgh, PA 15213 USA

来源：

AI MAGAZINE | 2009年 / 30卷 / 02期

关键词：

MOBILE ROBOT; ENVIRONMENTS; NAVIGATION;

D O I：

10.1609/aimag.v30i2.2238

中图分类号：

TP18 [人工智能理论];

学科分类号：

081104 ; 0812 ; 0835 ; 1405 ;

摘要：

The DARPA Urban Challenge was a competition to develop autonomous vehicles capable of safely, reliably, and robustly driving in traffic. hi this article we introduce Boss, the autonomous vehicle that won the challenge. Boss is a complex artificially intelligent software system embodied hi a 2007 Chevy Tahoe. To navigate safely, the vehicle builds a model of the world around it in real time. This model is used to generate safe routes a;id motion plans both on roads and in unstructured zones. An essential part of Boss's success stems from its ability to safely handle both abnormal situations and system glitches.

引用

页码：17 / 28

页数：12

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