A Modular, Hybrid System Architecture for Autonomous, Urban Driving
Egerstedt, Magnus B.
Christensen, Henrik I.
MetadataShow full item record
Autonomous navigation in urban environments inevitably leads to having to switch between various, sometimes conflicting control tasks. Sting Racing, a collaboration between Georgia Tech and SAIC, has developed a modular control architecture for this purpose and this paper describes the operation and definition of this architecture through so-called nested hybrid automata. We show how to map the requirements associated with the DARPA Urban Grand Challenge onto these nested automata and illustrate their operation through a number of experimental results.