Traffic interaction in the urban challenge: Putting boss on its best behavior

• Published in: 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems pp. 1752 - 1758
• Main Authors: Baker, C.R., Dolan, J.M.
• Format: Conference Proceeding
• Language: English
• Published: IEEE 01-09-2008
• Subjects: Control systems; Distance measurement; Navigation; Observers; Roads; Robots; Vehicles
• ISBN: 9781424420575; 1424420571
• ISSN: 2153-0858; 2153-0866
• DOI: 10.1109/IROS.2008.4651211

We describe an autonomous robotic software subsystem for managing mission execution and discrete traffic interaction in the 2007 DARPA Urban Challenge. Its role is reviewed in the context of the software system that controls ldquoBossrdquo, Tartan Racingpsilas winning entry in the competition. Design criteria are presented, followed by the application of software design principles to derive an architecture well suited to the rigors of developing complex robotic systems. Combined with a discussion of robust behavioral algorithms, the designpsilas effectiveness is highlighted in its ability to manage complex autonomous driving behaviors while remaining adaptable to the systempsilas evolving capabilities.