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This article presents the architecture of Junior, a robotic vehicle capable of navigating urban environments autonomously. In doing so, the vehicle is able to select its own routes, perceive and interact with other traffic, and execute various urban driving skills including lane changes, U-turns, parking, and merging into moving traffic. The vehicle successfully finished and won second place in the DARPA Urban Challenge, a robot competition organized by the U.S. Government. C

This article presents the architecture of Junior, a robotic vehicle capable of navigating urban environments autonomously. In doing so, the vehicle is able to select its own routes, perceive and interact with other traffic, and execute various urban driving skills including lane changes, U-turns, parking, and merging into moving traffic. The vehicle successfully finished and won second place in the DARPA Urban Challenge, a robot competition organized by the U.S. Government.

Absh.act--In this paper, we describe a core system for autonomous navigation in outdoor natural terrain. The system consists of three parts: a perception module that processes range images to identify untraversable regions of the terrain, a local map management module that maintains a representation of the environment in the vicinity of the vehicle, and a planning module that issues commands to the vehicle controller. We illustrate our approach by an experiment in which a vehicle travelled autonomously for one kilometer through unmapped cross-country terrain.

No abstract