Junior- The Stanford Entry in the Urban Challenge英文学习资料.pdfVIP

Junior: The Stanford Entry in the Urban Challenge 1 4 2 1 1 Michael Montemerlo , Jan Becker , Suhrid Bhat , Hendrik Dahlkamp , Dmitri Dolgov , 3 1 2 1 2 Scott Ettinger , Dirk Haehnel , Tim Hilden , Gabe Hoffmann , Burkhard Huhnke , 1 2 2 1 1 Doug Johnston , Stefan Klumpp , Dirk Langer , Anthony Levandowski , Jesse Levinson , 2 1 1 1 1 Julien Marcil , David Orenstein , Johannes Paefgen , Isaac Penny , Anna Petrovskaya , 2 2 1 1 1 Mike Pflueger , Ganymed Stanek , David Stavens , Antone Vogt , and Sebastian Thrun 1Stanford Artificial Intelligence Lab, Stanford University, Stanford CS 94305 2Electronics Research Lab, Volkswagen of America, 4009 Miranda Av., Palo Alto, CA 94304 3Intel Research, 2200 Mission College Blvd., Santa Clara, CA 95052 4Robert Bosch LLC, Research and Technology Center, 4009 Miranda Ave, Palo Alto, CA 94304 Abstract This article presents the architecture of Junior, a robotic vehicle capable of navi- gating urban environments autonomously. In doing so, the vehicle is able to select its own routes, perceive and interact with other traffic, and execute various urban driving skills including lane changes, U-turns, parking, and merging into moving traffic. The vehicle successfully finished and won second place in the DARPA Ur- ban Challenge, a robot competition organiz