Ohio State University Experiences at the DARPA Challenges
Keith Redmill, Ümi̇t Özgüner, Scott Biddlestone, Alex Hsieh, John Martin · SAE International journal of commercial vehicles · 2008
The Ohio State University has fielded teams at all three of the DARPA Grand Challenge and DARPA Urban Challenge autonomous vehicle competitions, using three very different vehicle platforms. In this paper we present our experiences in these competitions, comparing and contrasting the different requirements, strategies, tasks, and vehicles developed for each challenge. We will discuss vehicle control and actuation, sensors, sensor interpretation, planning, behavior, and control generation. We will also discuss lessons learned from the engineering and implementation process for these three vehicles.