This paper presents the Golem Group/UCLA entry to the 2005 DARPA Grand Challenge competition. We describe the main design principles behind the development of Golem 2, the race vehicle. The subsystems devoted to obstacle detection, avoidance, and state estimation are discussed in more detail. An overview of the vehicle performance in the field is provided, including successes together with an analysis of the reasons leading to failures.
|Original language||American English|
|Title of host publication||DARPA Grand Challenge|
|Subtitle of host publication||The Race of the Century|
|Number of pages||39|
|ISBN (Print)||3540734287, 9783540734284|
|State||Published - 2007|
|Name||Springer Tracts in Advanced Robotics|