Online speed adaptation using supervised learning for high-speed, off-road autonomous driving

IJCAI International Joint Conference on Artificial Intelligence

Volumn , Issue , 2007, Pages 2218-2224

  Stavens, David ^a   Hoffmann, Gabriel ^a   Thrun, Sebastian ^a  

^a STANFORD UNIVERSITY   (United States)

Author keywords

[No Author keywords available]

Indexed keywords

AUTONOMOUS DRIVING; AUTONOMOUS VEHICLES; CLASSICAL TECHNIQUES; DARPA GRAND CHALLENGE; HUMAN INTERVENTION; LEARNING PROCESS; STEERING DECISIONS; STOPPING DISTANCE;

ARTIFICIAL INTELLIGENCE; LANDFORMS; MANEUVERABILITY; ROADS AND STREETS; ROBOTS; SUPERVISED LEARNING;

SPEED;

EID: 62449343501     PISSN: 10450823     EISSN: None     Source Type: Conference Proceeding    
DOI: None     Document Type: Conference Paper

References (19)

1. G. Bekker. Theory of Land Locomotion . University of Michigan, 1956.
2. G. Bekker. Introduction to Terrain-Vehicle Systems. University of Michigan, 1969.
3. C.A. Brooks and K. Iagnemma. Vibration-based terrain classification for planetary exploration rovers. IEEE Transactions on Robotics, 21(6):1185-1191, 2005.
4. DARPA. DARPA Grand Challenge Rulebook, 2004. http://www.darpa.mil/ grandchallenge05/.
5. D. Fox, W. Burgard, and S. Thrun. Controlling synchro-drive robots with the dynamic window approach to collision avoidance. In Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 1996.
6. T. Gillespie. Fundamentals of Vehicle Dynamics. Society of Automotive Engineers, 1992.
7. A. Gutierrez, T. Galatali, J. P. Gonzalez, C. Urmson, and W. L.Whittaker. Preplanning for high performance autonomous traverse of desert terrain exploiting a priori knowledge to optimize speeds and to detail paths. Technical Report CMU-RI-TR-05-54, Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, December 2005.
8. K. Iagnemma, S. Kang, H. Shibly, and S. Dubowsky. On-line terrain parameter estimation for wheeled mobile robots with application to planetary rovers. IEEE Transactions on Robotics and Automation,To appear.
9. S. Julier and J. Uhlmann. A new extension of the Kalman filter to nonlinear systems. In International Symposium on Aerospace/Defense Sensing, Simulate and Controls, Orlando, FL, 1997.
10. A. Kelly and A. Stentz. Rough terrain autonomous mobility, part 2: An active vision, predictive control approach. Autonomous Robots, 5:163-198, 1998. (Pubitemid 128514283)
11. NOVA. The Great Robot Race (Documentary of the DARPA Grand Challenge), 2006. http://www.pbs.org/wgbh/nova/darpa/.
12. D. Sadhukhan, C. Moore, and E. Collins. Terrain estimation using internal sensors. In Proceedings of the 10th IASTED International Conference on Robotics and Applications (RA), Honolulu, Hawaii, USA, 2004.
13. S. Shimoda, Y. Kuroda, and K. Iagnemma. Potential field navigation of high speed unmanned ground vehicles in uneven terrain. In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), Barcelona, Spain, 2005.
14. M. Spenko, Y. Kuroda, S. Dubowsky, and K. Iagnemma. Hazard avoidance for high-speed mobile robots in rough terrain. Journal of Field Robotics, 23(5):311-331, 2006.
15. S. Thrun, M. Montemerlo, and A. Aron. Probabilistic terrain analysis for high-speed desert driving. In G. Sukhatme, S. Schaal, W. Burgard, and D. Fox, editors, Proceedings of the Robotics Science and Systems Conference, Philadelphia, PA, 2006.
16. S. Thrun, M. Montemerlo, H. Dahlkamp, D. Stavens, A. Aron, J. Diebel, P. Fong, J. Gale, M. Halpenny, G. Hoffmann, K. Lau, C. Oakley, M. Palatucci, V. Pratt, P. Stang, S. Strohband, C. Dupont, L.-E. Jendrossek, C. Koelen, C. Markey, C. Rummel, J. van Niekerk, E. Jensen, P. Alessandrini, G. Bradski, B. Davies, S. Ettinger, A. Kaehler, A. Nefian, and P. Mahoney. Stanley: The robot that won the darpa grand challenge. Journal of Field Robotics, 2006.
17. C. Urmson, J. Anhalt, M. Clark, T. Galatali, J.P. Gonzalez, J. Gowdy, A. Gutierrez, S. Harbaugh, M. Johnson-Roberson, H. Kato, P.L. Koon, K. Peterson, B.K. Smith, S. Spiker, E. Tryzelaar, andW.L.Whittaker. High speed navigation of unrehearsed terrain: Red team technology for grand challenge 2004. Technical Report CMU-RI-TR-04-37, Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, 2004.
18. C. Urmson, J. Anhalt, D. Bartz, M. Clark, T. Galatali, A. Gutierrez, S. Harbaugh, J. Johnston, H. Kato, P. Koon,W. Messner, N. Miller, A. Mosher, K. Peterson, C. Ragusa, D. Ray, B. Smith, J. Snider, S. Spiker, J. Struble, J. Ziglar, and W. L. Whittaker. A robust approach to high-speed navigation for unrehearsed desert terrain. Journal of Field Robotics, 23(8):467-508, August 2006. (Pubitemid 44420222)
19. J. Wong. Terramechanics and Off-Road Vehicles. Elsevier, 1989.