Departmental Papers (ESE)

Document Type

Conference Paper

Date of this Version

8-23-2008

Comments

Copyright 2008 IEEE. Reprinted from:
Kress-Gazit, H.; Pappas, G.J., "Automatically synthesizing a planning and control subsystem for the DARPA urban challenge," Automation Science and Engineering, 2008. CASE 2008. IEEE International Conference on , vol., no., pp.766-771, 23-26 Aug. 2008
URL: http://ieeexplore.ieee.org/stamp/stamp.jsp?arnumber=4626549&isnumber=4626395

This material is posted here with permission of the IEEE. Such permission of the IEEE does not in any way imply IEEE endorsement of any of the University of Pennsylvania's products or services. Internal or personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution must be obtained from the IEEE by writing to pubs-permissions@ieee.org. By choosing to view this document, you agree to all provisions of the copyright laws protecting it.

Abstract

To incorporate robots into society, they must be able to perform complex tasks while interacting with the world around them in a safe and dependable manner. The recent DARPA 2007 Urban Challenge made a step towards that goal by testing how well robotic vehicles can interact in an urban environment while dealing with static and dynamic obstacles and other cars. This paper uses the Urban challenge to demonstrates a general approach for automatically synthesizing correct hybrid controllers from high level descriptions. Here we create a planning and control subsystem for the vehicle that, if the information gathered by the sensor is correct, satisfies the requirements of the challenge for different dynamic environments. This approach automatically produces a system that is guaranteed to behave according to the traffic laws while interacting with other vehicles. Furthermore, it allows systems to be changed rapidly and easily thus reducing design time and eliminating human error.

Keywords

mobile robots, path planning, road traffic, road vehicles, DARPA Urban Challenge, control subsystem, dynamic obstacle, mobile robot, path planning, road vehicle, static obstacle, traffic law

Share

COinS

Date Posted: 28 May 2009