DARPA Urban Challenge The Golem Group LLC Technical Report

We report progress on the various separate problems necessary for the Urban Challenge. We can distinguish vehicles from non-vehicles at long range, track their position and orientation over time, and estimate their velocity and future heading; results are presented from real traffic data. In simulation, we can conduct entire Urban Challenge missions, including construction of the elaborate trajectories necessary to perform multipoint turns or to conduct passing maneuvers. We had previously built a large vehicle capable of driving forward down a desert trail, but we have now constructed a smaller, more agile urban vehicle capable of driving in forward or reverse; this vehicle is now fully constructed with all actuation and sensors in place. The remaining work prior to the Urban Challenge is to integrate these separate threads of development and conduct full real-world system tests.