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PAVE & the DARPA Challenges

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

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PAVE & the DARPA Challenges

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  1. PAVE & the DARPA Challenges by Alain L. Kornhauser, PhDProfessor, Operations Research & Financial EngineeringDirector, Program in Transportation Faculty Chair, PAVE (Princeton Autonomous Vehicle Engineering) Princeton University Presented at PAVE – Summer Workshop Princeton, NJ August 4-6, 2014

  2. The DARPA Grand ChallengesDefense Advanced Research Projects Agency • DARPA Grand ChallengeCreated 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 2004Across 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 ChallengeMulti-step qualification process: Site Visits, NQE – 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 ChallengeNov. 2007; 60 miles in an urban environment. Lane keeping, passing, stop-signs, K-turns “driving down Nassau Street”. Range of Prizes

  3. 2005 2007 Link to Presentation Old House Not Easy 2005 2007

  4. Prospect Eleven & 2005 Competition

  5. the making of a monster

  6. 2005 Grand Challenge

  7. Objective • Enrich the academic experience of the students Constraints • Very little budget Guiding Principles • Simplicity

  8. Homemade “Unlike the fancy “drive by wire” system employed by Stanford and VW, Princeton’s 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.” http://www.pcmag.com/slideshow_viewer/0,1205,l=&s=1489&a=161569&po=2,00.asp

  9. Fall 2004

  10. Fall 2005

  11. It wasn’t so easy…

  12. Pimp My Ride (a video presentation)

  13. Long Video Through 205GC Achievements in the 2005

  14. Link to GPS Tracks

  15. Participation in the 2007

  16. Prospect12_TestRun

  17. Cognition Perception Actuation Environment Substrate

  18. Perception

  19. MonocularVISION

  20. LaneDETECTION

  21. LaneDETECTION

  22. StereoVISION

  23. ObstacleDETECTION

  24. ObstacleDETECTION

  25. PrecisionGPS MEMSIMU

  26. SensorFUSION

  27. Cognition

  28. Global and LocalNAVIGATION

  29. Actuation

  30. Home-brewedELECTRONICS

  31. MechanicalACTUATORS

  32. Substrate

  33. dual-corePROCESSING

  34. MicrosoftROBOTICS STUDIOWas a mistakeNow switched to thread safe Windows with C++

  35. Today.. Continuing to work on Prospect 12 Vision remains our focus for depth mapping, object recognition and tracking Objective is to pass NJ Driver’s Test.

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