Intelligent Off-Road Navigation Algorithms and Strategies of Team Desert Buckeyes in the DARPA Grand Challenge ’05

Chen, Qi; Özgüner, Ü.

doi:10.1007/978-3-540-73429-1_6

Cited by 10 publications

(5 citation statements)

References 16 publications

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“…The "Dubin's car" [11] is a popular model for autonomous ground and air vehicles and has been employed in a wide variety of applications [7], [8], [13]. Its dynamics are:…”

Section: B Ground Vehicle Modelmentioning

confidence: 99%

See 1 more Smart Citation

Convex Optimization of Nonlinear Feedback Controllers via Occupation Measures

Majumdar

Vasudevan

Tobenkin

et al. 2013

Robotics: Science and Systems IX

135

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Abstract-In this paper, we present an approach for designing feedback controllers for polynomial systems that maximize the size of the time-limited backwards reachable set (BRS). We rely on the notion of occupation measures to pose the synthesis problem as an infinite dimensional linear program (LP) and provide finite dimensional approximations of this LP in terms of semidefinite programs (SDPs). The solution to each SDP yields a polynomial control policy and an outer approximation of the largest achievable BRS. In contrast to traditional Lyapunov based approaches, which are non-convex and require feasible initialization, our approach is convex and does not require any form of initialization. The resulting time-varying controllers and approximated backwards reachable sets are well-suited for use in a trajectory library or feedback motion planning algorithm. We demonstrate the efficacy and scalability of our approach on four nonlinear systems.

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“…The "Dubin's car" [11] is a popular model for autonomous ground and air vehicles and has been employed in a wide variety of applications [7], [8], [13]. Its dynamics are:…”

Section: B Ground Vehicle Modelmentioning

confidence: 99%

“…We take m = 1, l = 0.5, I = ml 2 , b = 0.1 and g = 9.8. The bounding set is defined by 8]. Our method can be readily adapted to handle dynamics with trigonometric dependence on a state, x, so long as the dynamics are polynomial in sin(x) and cos(x).…”

Section: Torque Limited Simple Pendulummentioning

confidence: 99%

Convex Optimization of Nonlinear Feedback Controllers via Occupation Measures

Majumdar

Vasudevan

Tobenkin

et al. 2013

Robotics: Science and Systems IX

135

View full text Add to dashboard Cite

show abstract

“…The DARPA Grand Challenges of 2004 and 2005 were both off road races. As such, the only behavior and thus the only meta-state required would be path following with obstacle avoidance from point A to point B [8]. However, since there was no path or lane that could be discerned from a roadway, the only method of navigation is to rely on GPS and INS based vehicle localization [9] and a series of predefined waypoints.…”

Section: High Level Controlmentioning

confidence: 99%

Ohio State University Experiences at the DARPA Challenges

Redmill

Özgüner

Biddlestone

et al. 2008

SAE Int. J. Commer. Veh.

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The Ohio State University has fielded teams at all three of the DARPA Grand Challenge and DARPA Urban Challenge autonomous vehicle competitions, using three very different vehicle platforms. In this paper we present our experiences in these competitions, comparing and contrasting the different requirements, strategies, tasks, and vehicles developed for each challenge. We will discuss vehicle control and actuation, sensors, sensor interpretation, planning, behavior, and control generation. We will also discuss lessons learned from the engineering and implementation process for these three vehicles.

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“…As in 2004, we provide drive-by-wire capability to control the steering, throttle, and brakes. Various sensors, including multiple digital, color cameras, LIDARS, Radar, GPS and Inertial Navigation Units were mounted [9].…”

Section: The Darpa Challengesmentioning

confidence: 99%