Alice: An information-rich autonomous vehicle for high-speed desert navigation

被引：64

作者：

Cremean, Lars B. ^{[1
]}

Foote, Tully B. ^{[1
]}

Gillula, Jeremy H. ^{[1
]}

Hines, George H. ^{[1
]}

Kogan, Dmitriy ^{[1
]}

Kriechbaum, Kristopher L. ^{[1
]}

Lamb, Jeffrey C. ^{[1
]}

Leibs, Jeremy ^{[1
]}

Lindzey, Laura ^{[1
]}

Rasmussen, Christopher E. ^{[1
]}

Stewart, Alexander D. ^{[1
]}

Burdick, Joel W. ^{[1
]}

Murray, Richard M. ^{[1
]}

机构：

[1] CALTECH, Pasadena, CA 91125 USA

来源：

JOURNAL OF FIELD ROBOTICS | 2006年 / 23卷 / 09期

关键词：

Algorithms - Control system synthesis - Ground vehicles - Navigation systems - Optimization - Sensor data fusion;

D O I：

10.1002/rob.20135

中图分类号：

TP24 [机器人技术];

学科分类号：

080202 ; 1405 ;

摘要：

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 environments. 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 environment that enables rapid assessment of performance during testing. The system successfully completed several runs in the National Qualifying Event, but encountered a combination of sensing and control issues in the Grand Challenge Event that led to a critical failure after traversing approximately 8 miles. (c) 2006 Wiley Periodicals, Inc.

引用

页码：777 / 810

页数：34

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