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Little Ben: The Ben Franklin Racing Team's entry in the 2007 DARPA Urban Challenge by Jonathan Bohren; Tully Foote; Jim Keller; Alex Kushleyev; Daniel Lee; Alex Stewart; Paul Vernaza; Jason Derenick; John Spletzer; Brian Satterfield is a Engineering article available to read on EtoBox.

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## Abstract This paper describes “Little Ben,” an autonomous ground vehicle constructed by the Ben Franklin Racing Team for the 2007 DARPA Urban Challenge in under a year and for less than $250,000. The sensing, planning, navigation, and actuation systems for Little Ben were carefully designed to meet the performance demands required of an autonomous vehicle traveling in an uncertain urban environment. We incorporated an array of a global positioning system (GPS)/inertial navigation system, LIDARs, and stereo cameras to provide timely information about the surrounding environment at the appropriate ranges. This sensor information was integrated into a dynamic map that could robustly handle GPS dropouts and errors. Our planning algorithms consisted of a high‐level mission planner that used information from the provided route network definition and mission data files to select routes, whereas the lower level planner used the latest dynamic map information to optimize a feasible trajectory to the next waypoint. The vehicle was actuated by a cost‐based controller that efficiently handled steering, throttle, and braking maneuvers in both forward and reverse directions. Our software modu

Who reads Little Ben: The Ben Franklin Racing Team's entry in the 2007 DARPA Urban Challenge?

Author

Jonathan Bohren; Tully Foote; Jim Keller; Alex Kushleyev; Daniel Lee; Alex Stewart; Paul Vernaza; Jason Derenick; John Spletzer; Brian Satterfield

Publisher

Wiley (John Wiley & Sons); John Wiley & Sons Ltd.; Wiley (ISSN 1556-4959)

Published

2008

Language

EN

Field

Engineering (Physical Sciences)