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March 26, 2008

Mtg: Team AnnieWAY’s Autonomous System for DARPA Urban Challenge 2007

by @ 9:02 pm. Filed under ALL, Computers/Software, Electronics Design, Engineering Mgmt, Optics/Displays, Semiconductors
 

WEDNESDAY May 7
SCV Robotics and Automation Chapter
Speakers: Ben Pitzer, Annie Lien, for Team AnnieWAY
Time: Presentation at 7:00 PM
Cost: none
Place: Carnegie-Mellon West, Mountain View
RSVP: by email to IEEE_RAS_SCV_Chapter_Committee@yahoogroups.com
Web: ewh.ieee.org/r6/scv/ras with photos

This talk reports on AnnieWAY, an autonomous vehicle that is capable of driving through urban scenarios and that successfully entered the finals of the DARPA Urban Challenge 2007 competition. We describe the main challenges imposed and the major hardware components. We outline the underlying software structure and focus on selected algorithms. Environmental perception mainly relies on a recent laser scanner, which delivers both range and reflectivity measurements. While range measurements are used to provide 3D scene geometry, measuring reflectivity allows for robust lane marker detection. Mission and maneuver planning is conducted via a concurrent hierarchical state machine that generates behavior in accordance with California traffic laws. We conclude with a report of the results achieved during the competition.

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