Route planning for OSU-ACT autonomous vehicle in DARPA Urban Challenge

Author

Fu, Lina ; Yazici, Ahmet ; Özgüner, Ümit

Author_Institution

Dept. of Electr. & Comput. Eng., Ohio State Univ., Columbus, OH

fYear

2008

fDate

4-6 June 2008

Firstpage

781

Lastpage

786

Abstract

The 2007 urban challenge, hosted by the U.S. Defense Advanced Research Projects Agency (DARPA), featured autonomous vehicle technology in an urban environment. This paper presents the route planning module for the vehicle developed by the Ohio State University Autonomous City Transport (OSU-ACT) team. Based on given information of the urban road network, this module is able to search for optimal routes to direct the vehicle through a series of checkpoints. It is also capable of dealing with dynamically changing road networks, through real time re-planning with updated road information. Simulations and field tests have validated the performance of the route planner.

Keywords

mobile robots; path planning; remotely operated vehicles; DARPA urban challenge; U.S. Defense Advanced Research Projects Agency; autonomous vehicle; real time replanning; route planning; Cities and towns; Communication system control; Level control; Mobile robots; Remotely operated vehicles; Road vehicles; Testing; Urban areas; Urban planning; Vehicle driving;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Vehicles Symposium, 2008 IEEE

Conference_Location

Eindhoven

ISSN

1931-0587

Print_ISBN

978-1-4244-2568-6

Electronic_ISBN

1931-0587

Type

conf

DOI

10.1109/IVS.2008.4621279

Filename

4621279