Abstract
In this paper we describe a LIDAR-based navigation approach applied at both the C-Elrob (European Land Robot Trial) 2007 and the DARPA Urban Challenge 2007. At the C-Elrob 2007 the approach was used without any prior knowledge about the terrain and without GPS. At the Urban Challenge the approach was combined with a GPS-based path follower. At the core of the method is a set of “tentacles” that represent precalculated trajectories defined in the ego-centered coordinate space of the vehicle. Similar to an insect’s antennae or feelers, they fan out with different curvatures discretizing the basic driving options of the vehicle. We detail how the approach can be used for exploration of unknown environments and how it can be extended to combined GPS path following and obstacle avoidance allowing save road following in case of GPS offsets.
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Hundelshausen, F.v., Himmelsbach, M., Hecker, F., Mueller, A., Wuensche, HJ. (2009). Driving with Tentacles - Integral Structures for Sensing and Motion. In: Buehler, M., Iagnemma, K., Singh, S. (eds) The DARPA Urban Challenge. Springer Tracts in Advanced Robotics, vol 56. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-03991-1_10
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DOI: https://doi.org/10.1007/978-3-642-03991-1_10
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