Empirical evaluation of an autonomous vehicle in an Urban environment

Upcroft, B; Makarenko, A; Moser, M; Alempijevic, A; Donikian, A; Uther, W; Fitch, R

Empirical evaluation of an autonomous vehicle in an Urban environment

Upcroft, B Makarenko, A Moser, M Alempijevic, A

Donikian, A Uther, W Fitch, R

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Publication Type:: Journal Article
Citation:: Journal of Aerospace Computing, Information and Communication, 2007, 4 (12), pp. 1086 - 1107
Issue Date:: 2007-12-01

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Field	Value	Language
dc.contributor.author	Upcroft, B	en_US
dc.contributor.author	Makarenko, A	en_US
dc.contributor.author	Moser, M	en_US
dc.contributor.author	Alempijevic, A https://orcid.org/0000-0002-1769-8041	en_US
dc.contributor.author	Donikian, A	en_US
dc.contributor.author	Uther, W	en_US
dc.contributor.author	Fitch, R https://orcid.org/0000-0003-2215-5188	en_US
dc.date.issued	2007-12-01	en_US
dc.identifier.citation	Journal of Aerospace Computing, Information and Communication, 2007, 4 (12), pp. 1086 - 1107	en_US
dc.identifier.issn	1542-9423	en_US
dc.identifier.uri	http://hdl.handle.net/10453/6163
dc.description.abstract	Operation in urban environments creates unique challenges for research in autonomous ground vehicles. Due to the presence of tall trees and buildings in close proximity to traversable areas, GPS outage is likely to be frequent and physical hazards pose real threats to autonomous systems. In this paper, we describe a novel autonomous platform developed by the Sydney-Berkeley Driving Team for entry into the 2007 DARPA Urban Challenge competition. We report empirical results analyzing the performance of the vehicle while navigating a 560-meter test loop multiple times in an actual urban setting with severe GPS outage. We show that our system is robust against failure of global position estimates and can reliably traverse standard two-lane road networks using vision for localization. Copyright © 2007 by the American Institute of Aeronautics and Astronautics, Inc. All rights reserved.	en_US
dc.relation.ispartof	Journal of Aerospace Computing, Information and Communication	en_US
dc.relation.isbasedon	10.2514/1.32839	en_US
dc.subject.classification	Aerospace & Aeronautics	en_US
dc.title	Empirical evaluation of an autonomous vehicle in an Urban environment	en_US
dc.type	Journal Article
utslib.citation.volume	12	en_US
utslib.citation.volume	4	en_US
utslib.for	090407 Process Control and Simulation	en_US
pubs.embargo.period	Not known	en_US
pubs.organisational-group	/University of Technology Sydney
pubs.organisational-group	/University of Technology Sydney/Faculty of Engineering and Information Technology
pubs.organisational-group	/University of Technology Sydney/Faculty of Engineering and Information Technology/School of Mechanical and Mechatronic Engineering
pubs.organisational-group	/University of Technology Sydney/Strength - CAS - Centre for Autonomous Systems
utslib.copyright.status	open_access
pubs.issue	12	en_US
pubs.publication-status	Published	en_US
pubs.volume	4	en_US

Abstract:

Operation in urban environments creates unique challenges for research in autonomous ground vehicles. Due to the presence of tall trees and buildings in close proximity to traversable areas, GPS outage is likely to be frequent and physical hazards pose real threats to autonomous systems. In this paper, we describe a novel autonomous platform developed by the Sydney-Berkeley Driving Team for entry into the 2007 DARPA Urban Challenge competition. We report empirical results analyzing the performance of the vehicle while navigating a 560-meter test loop multiple times in an actual urban setting with severe GPS outage. We show that our system is robust against failure of global position estimates and can reliably traverse standard two-lane road networks using vision for localization. Copyright © 2007 by the American Institute of Aeronautics and Astronautics, Inc. All rights reserved.

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http://hdl.handle.net/10453/6163