Autonomous driving in urban environments: Boss and the Urban Challenge
Article first published online: 23 JUL 2008
Copyright © 2008 Wiley Periodicals, Inc.
Journal of Field Robotics
Special Issue: Special Issue on the 2007 DARPA Urban Challenge, Part I
Volume 25, Issue 8, pages 425–466, August 2008
How to Cite
Urmson, C., Anhalt, J., Bagnell, D., Baker, C., Bittner, R., Clark, M. N., Dolan, J., Duggins, D., Galatali, T., Geyer, C., Gittleman, M., Harbaugh, S., Hebert, M., Howard, T. M., Kolski, S., Kelly, A., Likhachev, M., McNaughton, M., Miller, N., Peterson, K., Pilnick, B., Rajkumar, R., Rybski, P., Salesky, B., Seo, Y.-W., Singh, S., Snider, J., Stentz, A., Whittaker, W. “., Wolkowicki, Z., Ziglar, J., Bae, H., Brown, T., Demitrish, D., Litkouhi, B., Nickolaou, J., Sadekar, V., Zhang, W., Struble, J., Taylor, M., Darms, M. and Ferguson, D. (2008), Autonomous driving in urban environments: Boss and the Urban Challenge. J. Field Robotics, 25: 425–466. doi: 10.1002/rob.20255
- Issue published online: 23 JUL 2008
- Article first published online: 23 JUL 2008
- Manuscript Accepted: 19 JUN 2008
- Manuscript Received: 22 FEB 2008
Boss is an autonomous vehicle that uses on-board sensors (global positioning system, lasers, radars, and cameras) to track other vehicles, detect static obstacles, and localize itself relative to a road model. A three-layer planning system combines mission, behavioral, and motion planning to drive in urban environments. The mission planning layer considers which street to take to achieve a mission goal. The behavioral layer determines when to change lanes and precedence at intersections and performs error recovery maneuvers. The motion planning layer selects actions to avoid obstacles while making progress toward local goals. The system was developed from the ground up to address the requirements of the DARPA Urban Challenge using a spiral system development process with a heavy emphasis on regular, regressive system testing. During the National Qualification Event and the 85-km Urban Challenge Final Event, Boss demonstrated some of its capabilities, qualifying first and winning the challenge. © 2008 Wiley Periodicals, Inc.