Stanley: The robot that won the DARPA Grand Challenge

作者：Sebastian Thrun, Mike Montemerlo, Hendrik Dahlkamp, David Stavens, Andrei Aron, James Diebel, Philip Fong, John T. Gale, Morgan Halpenny, Gabriel Hoffmann, Kenny Lau, Celia M. Oakley, Mark Palatucci, Vaughan Pratt, Pascal Stang, Sven Strohband, Cédric Dupont, Lars‐Erik Jendrossek, Christian Koelen, Charles Markey, Carlo Rummel, Joe van Niekerk, Eric L. N. Jensen, Philippe Alessandrini, Gary Bradski, Bob Davies, Scott Ettinger, Adrian Kaehler, Ara Nefian, Pamela Mahoney · 发表于：Journal of Field Robotics · 年份：2006 · DOI：10.1002/rob.20147 · 被引用次数：2164 · 研究领域：Robotic Path Planning Algorithms、Autonomous Vehicle Technology and Safety、Robotics and Sensor-Based Localization

Abstract This article describes the robot Stanley, which won the 2005 DARPA Grand Challenge. Stanley was developed for high‐speed desert driving without manual intervention. The robot's software system relied predominately on state‐of‐the‐art artificial intelligence technologies, such as machine learning and probabilistic reasoning. This paper describes the major components of this architecture, and discusses the results of the Grand Challenge race. © 2006 Wiley Periodicals, Inc.