A Modular, Hybrid System Architecture for Autonomous, Urban Driving
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Abstract
Autonomous navigation in urban environments inevitably leads to having to switch
between various, sometimes conflicting control tasks. Sting Racing, a collaboration between
Georgia Tech and SAIC, has developed a modular control architecture for this purpose and
this paper describes the operation and definition of this architecture through so-called nested
hybrid automata. We show how to map the requirements associated with the DARPA Urban
Grand Challenge onto these nested automata and illustrate their operation through a number
of experimental results.
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2007-12
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