NDLI: Development of an Automotive Ground Vehicle Platform for Autonomous Urban Operations

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Development of an Automotive Ground Vehicle Platform for Autonomous Urban Operations

Content Provider	Semantic Scholar
Author	Currier, Patrick Norman
Copyright Year	2008
Abstract	Autonomous ground vehicle operations, such as those found in the 2007 DARPA Urban Challenge, require a reliable and capable vehicle platform. To meet this requirement, an autonomous ground vehicle platform based on a 2005 Ford Escape Hybrid was developed for operations in urban environments. The vehicle conversion, dubbed Odin, contains a drive-by-wire system that is highly integrated with the OEM systems, providing throttle, steering, shifting, and braking actuation. The vehicle also includes a controller that provides low-level longitudinal using a map-linearized PI controller and lateral curvature control using a bicycle model. The control algorithms proved capable of controlling the vehicle at a level acceptable for autonomous operations. Communications are implemented using the Joint Architecture for Unmanned Systems (JAUS) using custom messages to enhance interoperability potential. The net result is a highly capable autonomous vehicle platform that was validated when Odin successfully completed the 60 mile Urban Challenge. This work received support from the Defense Advanced Research Projects Agency, General Dynamics Robotics Systems, Caterpillar, Inc., National Instruments Corporation, Ford Motor Company, and TORC Technologies, LLC.
File Format	PDF HTM / HTML
Alternate Webpage(s)	https://theses.lib.vt.edu/theses/available/etd-05082008-110806/unrestricted/Currier_Thesis.pdf
Language	English
Access Restriction	Open
Content Type	Text
Resource Type	Article

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