Team AnnieWAY's autonomous system for the 2007 DARPA Urban Challenge

@article{Kammel2008TeamAA,
  title={Team AnnieWAY's autonomous system for the 2007 DARPA Urban Challenge},
  author={S{\"o}ren Kammel and Julius Ziegler and Benjamin Pitzer and Moritz Werling and Tobias Gindele and Daniel Jagszent and Joachim Schr{\"o}der and Michael Thuy and Matthias Goebl and Felix von Hundelshausen and Oliver Pink and Christian Frese and Christoph Stiller},
  journal={J. Field Robotics},
  year={2008},
  volume={25},
  pages={615-639}
}
This paper reports on AnnieWAY, an autonomous vehicle that is capable of driving through urban scenarios and that successfully entered the finals of the 2007 DARPA Urban Challenge competition. After describing the main challenges imposed and the major hardware components, we outline the underlying software structure and focus on selected algorithms. Environmental perception mainly relies on a recent laser scanner that delivers both range and reflectivity measurements. Whereas range measurements… CONTINUE READING
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