Situational Reasoning for Road Driving in an Urban Environment

Noel E. Du Toit, Tichakorn Wongpiromsarn, Joel W. Burdick, Richard M. Murray

Abstract

Robot navigation in urban environments requires situational reasoning. Given the complexity of the environment and the behavior specified by traffic rules, it is necessary to recognize the current situation to impose the correct traffic rules. In an attempt to manage the complexity of the situational reasoning subsystem, this paper describes a finite state machine model to govern the situational reasoning process. The logic state machine and its interaction with the planning system are discussed. The approach was implemented on Alice, Team Caltech’s entry into the 2007 DARPA Urban Challenge. Results from the qualifying rounds are discussed. The approach is validated and the shortcomings of the implementation are identified.

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Paper Citation


in Harvard Style

E. Du Toit N., Wongpiromsarn T., W. Burdick J. and M. Murray R. (2008). Situational Reasoning for Road Driving in an Urban Environment . In Proceedings of the 2nd International Workshop on Intelligent Vehicle Control Systems - Volume 1: IVCS, (ICINCO 2008) ISBN 978-989-8111-34-0, pages 30-39. DOI: 10.5220/0001509400300039


in Bibtex Style

@conference{ivcs08,
author={Noel E. Du Toit and Tichakorn Wongpiromsarn and Joel W. Burdick and Richard M. Murray},
title={Situational Reasoning for Road Driving in an Urban Environment},
booktitle={Proceedings of the 2nd International Workshop on Intelligent Vehicle Control Systems - Volume 1: IVCS, (ICINCO 2008)},
year={2008},
pages={30-39},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0001509400300039},
isbn={978-989-8111-34-0},
}


in EndNote Style

TY - CONF
JO - Proceedings of the 2nd International Workshop on Intelligent Vehicle Control Systems - Volume 1: IVCS, (ICINCO 2008)
TI - Situational Reasoning for Road Driving in an Urban Environment
SN - 978-989-8111-34-0
AU - E. Du Toit N.
AU - Wongpiromsarn T.
AU - W. Burdick J.
AU - M. Murray R.
PY - 2008
SP - 30
EP - 39
DO - 10.5220/0001509400300039