Team Gator Nation's Autonomous Vehicle Development for the 2007 DARPA Urban Challenge

Carl Crane, David Armstrong, Antonio Arroyo, Antoin Baker, Doug Dankel, Greg Garcia, Nicholas Johnson, Jaesang Lee, Shannon Ridgeway, Eric Schwartz, Eric Thorn, Steve Velat (+2 others)
2007 Journal of Aerospace Computing Information and Communication  
University of Florida. This framework provides a means for situation assessment, behavior mode evaluation, and behavior selection and execution. The architecture is implemented on a system distributed over ten dual-core computers that intercommunicate via the Joint Architecture for Unmanned Systems (JAUS) version 3.2 protocol. This work's primary contribution addresses the technical challenges of (a) the reconciliation of differences in estimated global pose, a priori data, and sensed
more » ... n, (b) the determination of the appropriate behavior mode, and (c) the smooth transition of vehicle control between behavior modes. The processes that perform these tasks as well as the other necessary processes that perform perception, data integration, planning, and control are described in detail together with their design rationale. Finally, testing results accomplished to date are presented.
doi:10.2514/1.33342 fatcat:syeqb7yhlfgexgeatr2whkt5lm