Empirical Evaluation of an Autonomous Vehicle in an Urban Environment

The American Institute of Aeronautics and Astronautics (AIAA)
Publication Type:
Journal Article
Journal Of Aerospace Computing, Information, And Communication, 2007, 4 (12), pp. 1086 - 1107
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Operation in urban environments creates unique challenges for research in autonomous ground vehicles. 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.
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