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Research Article
A robust approach to high-speed navigation for unrehearsed desert terrain
Article first published online: 18 AUG 2006
DOI: 10.1002/rob.20126
Copyright © 2006 Wiley Periodicals, Inc., A Wiley Company
Issue
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Journal of Field Robotics
Special Issue: Special Issue on the DARPA Grand Challenge, Part 1
Volume 23, Issue 8, pages 467–508, August 2006
Additional Information
How to Cite
Urmson, C., Ragusa, C., Ray, D., Anhalt, J., Bartz, D., Galatali, T., Gutierrez, A., Johnston, J., Harbaugh, S., “Yu” Kato, H., Messner, W., Miller, N., Peterson, K., Smith, B., Snider, J., Spiker, S., Ziglar, J., “Red” Whittaker, W., Clark, M., Koon, P., Mosher, A. and Struble, J. (2006), A robust approach to high-speed navigation for unrehearsed desert terrain. J. Field Robotics, 23: 467–508. doi: 10.1002/rob.20126
Publication History
- Issue published online: 18 AUG 2006
- Article first published online: 18 AUG 2006
- Manuscript Accepted: 30 APR 2006
- Manuscript Received: 22 DEC 2005
- Abstract
- References
- Cited By
Abstract
This article presents a robust approach to navigating at high speed across desert terrain. A central theme of this approach is the combination of simple ideas and components to build a capable and robust system. A pair of robots were developed, which completed a 212 km Grand Challenge desert race in approximately 7 h. A pathcentric navigation system uses a combination of LIDAR and RADAR based perception sensors to traverse trails and avoid obstacles at speeds up to 15 m/s. The onboard navigation system leverages a human-based preplanning system to improve reliability and robustness. The robots have been extensively tested, traversing over 3500 km of desert trails prior to completing the challenge. This article describes the mechanisms, algorithms, and testing methods used to achieve this performance. © 2006 Wiley Periodicals, Inc.