Autonomous driving in urban environments: Boss and the Urban Challenge

Boss is an autonomous vehicle that uses on‐board sensors (global positioning system, lasers, radars, and cameras) to track other vehicles, detect static obstacles, and localize itself relative to a road model. A three‐layer planning system combines mission, behavioral, and motion planning to drive i...

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Bibliographic Details
Published in:	Journal of field robotics Vol. 25; no. 8; pp. 425 - 466
Main Authors:	Urmson, Chris, Anhalt, Joshua, Bagnell, Drew, Baker, Christopher, Bittner, Robert, Clark, M. N., Dolan, John, Duggins, Dave, Galatali, Tugrul, Geyer, Chris, Gittleman, Michele, Harbaugh, Sam, Hebert, Martial, Howard, Thomas M., Kolski, Sascha, Kelly, Alonzo, Likhachev, Maxim, McNaughton, Matt, Miller, Nick, Peterson, Kevin, Pilnick, Brian, Rajkumar, Raj, Rybski, Paul, Salesky, Bryan, Seo, Young-Woo, Singh, Sanjiv, Snider, Jarrod, Stentz, Anthony, Whittaker, William "Red", Wolkowicki, Ziv, Ziglar, Jason, Bae, Hong, Brown, Thomas, Demitrish, Daniel, Litkouhi, Bakhtiar, Nickolaou, Jim, Sadekar, Varsha, Zhang, Wende, Struble, Joshua, Taylor, Michael, Darms, Michael, Ferguson, Dave
Format:	Journal Article
Language:	English
Published:	Hoboken Wiley Subscription Services, Inc., A Wiley Company 01-08-2008
Online Access:	Get full text
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Summary:	Boss is an autonomous vehicle that uses on‐board sensors (global positioning system, lasers, radars, and cameras) to track other vehicles, detect static obstacles, and localize itself relative to a road model. A three‐layer planning system combines mission, behavioral, and motion planning to drive in urban environments. The mission planning layer considers which street to take to achieve a mission goal. The behavioral layer determines when to change lanes and precedence at intersections and performs error recovery maneuvers. The motion planning layer selects actions to avoid obstacles while making progress toward local goals. The system was developed from the ground up to address the requirements of the DARPA Urban Challenge using a spiral system development process with a heavy emphasis on regular, regressive system testing. During the National Qualification Event and the 85‐km Urban Challenge Final Event, Boss demonstrated some of its capabilities, qualifying first and winning the challenge. © 2008 Wiley Periodicals, Inc.
Bibliography:	ark:/67375/WNG-MFRKDKLM-2 ArticleID:ROB20255 istex:3F973EF3E6BA9D6EF0668638B4CC597641B4F00F ObjectType-Article-2 SourceType-Scholarly Journals-1 ObjectType-Feature-1 content type line 23
ISSN:	1556-4959 1556-4967
DOI:	10.1002/rob.20255