Premium
The Golem Group/University of California at Los Angeles autonomous ground vehicle in the DARPA grand challenge
Author(s) -
Mason Richard,
Radford Jim,
Kumar Deepak,
Walters Robert,
Fulkerson Brian,
Jones Eagle,
Caldwell David,
Meltzer Jason,
Alon Yaniv,
Shashua Am,
Hattori Hiroshi,
Frazzoli Emilio,
Soatto Stefano
Publication year - 2006
Publication title -
journal of field robotics
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 1.152
H-Index - 96
eISSN - 1556-4967
pISSN - 1556-4959
DOI - 10.1002/rob.20137
Subject(s) - obstacle , competition (biology) , grand challenges , state (computer science) , aeronautics , field (mathematics) , engineering , obstacle avoidance , computer science , artificial intelligence , political science , ecology , law , robot , mathematics , mobile robot , algorithm , pure mathematics , biology , operating system
This paper presents the Golem Group/University of California at Los Angeles entry to the 2005 DARPA Grand Challenge competition. We describe the main design principles behind the development of Golem 2, the race vehicle. The subsystems devoted to obstacle detection, avoidance, and state estimation are discussed in more detail. An overview of vehicle performance in the field is provided, including successes together with an analysis of the reasons leading to failures. © 2006 Wiley Periodicals, Inc.