A Parallel Autonomy Research Platform
Name
IV2017_Parallel_Autonomy_Research_Platform.pdf
Description
Main Article
Size
4.89 MB
Format
Adobe PDF
Checksum (MD5)
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Author(s)
Pendelton, Scott Drew
Andersen, Hans
Ang, Marcelo H., Jr.
Naser, Felix
Dorhout, David Lee
Proulx, Stephen
Schwarting, Wilko
Paull, Liam
Alonso Mora, Javier
Karaman, Sertac
Date Issued
June 2017
Journal
2017 IEEE Intelligent Vehicles Symposium
Publisher
Institute of Electrical and Electronics Engineers (IEEE)
Citation
Naser, Felix et al. "A Parallel Autonomy Research Platform." 2017 IEEE Intelligent Vehicles Symposium. 11-14 June, 2017, Redondo Beach, CA, USA, IEEE, 2017.
Version
Author's final manuscript
Abstract
We present the development of a full-scale “parallel autonomy” research platform including software and hardware. In the parallel autonomy paradigm, the control of the vehicle is shared; the human is still in control of the vehicle, but the autonomy system is always running in the background to prevent accidents. Our holistic approach includes: (1) a driveby-wire conversion method only based on reverse engineering,
(2) mounting of relatively inexpensive sensors onto the vehicle, (3) implementation of a localization and mapping system, (4) obstacle detection and (5) a shared controller as well as (6) integration with an advanced autonomy simulation system (Drake) for rapid development and testing. The system can operate in three modes: (a) manual driving, (b) full autonomy, where the system is in complete control of the vehicle and (c) parallel autonomy, where the shared controller is implemented. We present results from extensive testing of a full-scale vehicle on closed tracks that demonstrate these capabilities.
MIT Department
Massachusetts Institute of Technology. Computer Science and Artificial Intelligence Laboratory
Massachusetts Institute of Technology. Department of Electrical Engineering and Computer Science
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Creative Commons Attribution-Noncommercial-Share Alike
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DOI of Published Version
https://its.papercept.net/conferences/conferences/IV2017/program/IV2017_ContentListWeb_3.html#tubt4_04
