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Junior: The Stanford Entry in the Urban Challenge

Authors
Michael Montemerlo, Jan Becker, Suhrid Bhat, Hendrik Dahlkamp, Dmitri Dolgov, Scott Ettinger, Dirk Haehnel, Tim Hilden, Gabe Hoffmann, Burkhard Huhnke, Doug Johnston, Stefan Klumpp, Dirk Langer, Anthony Levandowski, Jesse Levinson, Julien Marcil, David Orenstein, Johannes Paefgen, Isaac Penny, Anna Petrovskaya, Mike Pflueger, Ganymed Stanek, David Stavens, Antone Vogt, Sebastian Thrun
Year
2008
Journal Paper
Algorithm
Junior Autonomous Driving System
Source
Journal of Field Robotics
Identifiers
DOI 10.1002/rob.20258

Abstract

This article presents the architecture of Junior, a robotic vehicle capable of navigating urban environments autonomously. In doing so, the vehicle is able to select its own routes, perceive and interact with other traffic, and execute various urban driving skills including lane changes, U‐turns, parking, and merging into moving traffic. The vehicle successfully finished and won second place in the DARPA Urban challenge, a robot competition organized by the U.S. Government.

Summary

Documents Junior, Stanford's vehicle for the DARPA Urban challenge, including its perception, planning, and control architecture. The paper is a canonical systems reference for the generation of autonomous-driving stacks that preceded modern self-driving platforms.

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Tags

Autonomous vehicles Urban challenge Robotics systems Perception Planning Vehicle control

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