princeton university（普林斯顿大学）.docVIP

DARPA Grand Challenge 2005 Technical Paper Team Leader: Professor Alain Kornhauser (alaink@princeton.edu) Authors: Anand Atreya ’07, Bryan Cattle ’07, Brendan Collins ’08, Gordon Franken ’08, Andrew Saxe ‘08 Princeton University E-407 Engineering Quadrangle Olden Street Princeton, NJ 08544 DISCLAIMER: The information contained in this paper does not represent the official policies, either expressed or implied, of the Defense Advanced Research Projects Agency (DARPA) or the Department of Defense. DARPA does not guarantee the accuracy or reliability of the information in this paper. Abstract Described is a low-cost approach to the problem of autonomous vehicle design using a single stereo camera and unified behavior control. Passive sensing offers advantages in both a military context, where undetectable sensors are crucial for effective operation and in a civilian context, in which multiple autonomous vehicles must not interfere with one another. Proposed is a novel reactive controller that operates on the principle that an effective decision can only be made in the presence of all available data. The unified behavior paradigm removes the need to arbitrate between multiple desired behaviors. Introduction The Princeton University team consists of a dedicated team of enrolled full-time undergraduate students, one graduate research assistant and several advising faculty. The vehicle is a silver crew-cab pickup truck dubbed “Prospect Eleven.” The team has benefited from the hard work of: Anand Atreya ’07, Bryan Cattle ’07, Daniel Chiou ‘05, Kamil Choudhury ‘06, Brendan Collins ‘08, Ben Essenburg ‘05, Gordon Franken ‘08, Josh Herbach ‘08, Jeffrey Jones *05, Andrew Klaber ‘05, Michael Pasqual ‘05, Andrew Saxe ‘08, Scott Schiffres ‘06, and the unwavering support and guidance of Professor Alain Kornhauser of the Department of Operations Research and Financial Engineering and the assistance of Professors Sanjeev Kulkarni, Bradley Dickenson,