PAVE & the DARPA Challenges

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PAVE & the DARPA Challenges. by Alain L. Kornhauser, PhD Professor, Operations Research & Financial Engineering Director, Program in Transportation Faculty Chair, PAVE (Princeton Autonomous Vehicle Engineering) Princeton University Presented at PAVE – Summer Workshop Princeton, NJ - PowerPoint PPT Presentation

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PowerPoint Presentation by Alain L. Kornhauser, PhD Professor, Operations Research & Financial Engineering Director, Program in Transportation Faculty Chair, PAVE (Princeton Autonomous Vehicle Engineering) Princeton University Presented at PAVE â Summer Workshop Princeton, NJ August 4-6, 2014 PAVE & the DARPA Challenges The DARPA Grand Challenges Defense Advanced Research Projects Agency DARPA Grand Challenge Created in response to a Congressional and DoD mandate: a field test intended to accelerate research and development in autonomous ground vehicles that will help save American lives on the battlefield.  The Grand Challenge brings together individuals and organizations from industry, the R&D community, government, the armed services, academia, students, backyard inventors, and automotive enthusiasts in the pursuit of a technological challenge. The First Grand Challenge:  Across the Mojave, March 2004 Across the Mojave from Barstow, California to Primm, Nevada :$1 million prize.  From the qualifying round at the California Speedway, 15 finalists emerged to attempt the Grand Challenge.  The prize went unclaimed as no vehicles were able to complete more than 7.4 miles. The 2005 Grand Challenge Multi-step qualification process: Site Visits, NQE â Semifinals, GC final event 132 miles through the Nevada desert. Course supplied as list of GPS waypoints. October 8, 2005 in the desert near Primm, NV.  Prize $2 million.  The 2007 Urban Challenge Nov. 2007; 60 miles in an urban environment. Lane keeping, passing, stop-signs, K-turns âdriving down Nassau Streetâ. Range of Prizes 2005 2007 Link to Presentation Not Easy 2007 2005 Old House Prospect Eleven & 2005 Competition the making of a monster 2005 Grand Challenge Constraints Very little budget Simplicity Guiding Principles Objective Enrich the academic experience of the students http://www.pcmag.com/slideshow_viewer/0,1205,l=&s=1489&a=161569&po=2,00.asp Homemade âUnlike the fancy âdrive by wireâ system employed by Stanford and VW, Princetonâs students built a homemade set of gears to drive their pickup. I could see from the electronics textbook they were using that they were learning as they went.â Fall 2004 Fall 2005 It wasnât so easy⦠13 Pimp My Ride (a video presentation) Long Video Through 205GC Achievements in the 2005 Link to GPS Tracks Participation in the 2007 17 Prospect12_TestRun 18 Substrate Cognition Actuation Perception Environment 19 These five elements interact as you can see here. Perception includes all of the sensors used to perceive the surrounding environment, as well as the algorithms to process the incoming data. Cognition includes algorithms that fuses the data from all the sensors into one coherent scheme, as well as the high- and low- level navigation routines that decides what actions the robot needs to take. Actuation is responsible for carrying out those action, and includes physical actuators and the low-level routines to control them. Of course, any action we take will change the environment around us, not to mention that environment changes of its own accord, so this whole process must get repeated in a loop. Finally, we recognize that none of this processing could occur without an adequate hardware and software infrastructure in place. We call this architecture Substrate. Now weâre going to take a closer look at how weâve gone about implementing these steps. Perception 20 MonocularVISION 21 Lane DETECTION 22 Lane DETECTION 23 StereoVISION 24 Obstacle DETECTION 25 Obstacle DETECTION 26 PrecisionGPS MEMSIMU 27 Sensor FUSION 28 Cognition 29 Global and Local NAVIGATION 30 Actuation 31 Home-brewed ELECTRONICS 32 Mechanical ACTUATORS 33 Substrate 34 dual-core PROCESSING 35 Microsoft ROBOTICS STUDIO Was a mistake Now switched to thread safe Windows with C++ 36 Today.. Continuing to work on Prospect 12 Vision remains our focus for depth mapping, object recognition and tracking Objective is to pass NJ Driverâs Test. 37