June 2001 Demo:
The PATH vehicle is performing a 1.0 m. lane change maneuver under autonomous control.  The control state is calculated by the UCR navigation software that aids an INS with carrier phase DGPS and magnetometer measurements.  The maneuver is at low speed due to the small size of the demonstration area.  Thanks to Asfand Siddiqui for the movie.
                                                 mpg movie of a short lane change maneuver


September 2001 Demo:
This view is from inside the PATH vehicle.  The vehicle performs the following maneuvers under autonomous control:

  1. Trajectory following - The vehicle starts out near the trajectory.  The control system drives the vehicle to the trajectory and keeps it on the trajectory. The trajectory is parallel to the row of parking spaces.
  2. Trajectory following -  The vehicle starts out near the trajectory.  The control system drives the vehicle to the trajectory and keeps it on the trajectory. The trajectory is parallel to the row of parking spaces.
  3. Lane change - The vehicle starts out on the trajectory, moves to the right 3.0 m., then returns to the trajectory.

The control state is calculated by the UCR navigation software that aids an INS with carrier phase DGPS and magnetometer measurements.  The maneuver is at low speed (~20 mph) due to the small size of the demonstration area.  Thanks to Jay Sullivan and Daniel Empey for the movie.
                                              wmv movie of various maneuvers viewed from inside the vehicle


September 2001 Demo:
This view is from outside the PATH vehicle.  The vehicle performs the following maneuvers under autonomous control:

  1. Lane change - The vehicle starts out on the trajectory, moves to the right 3.0 m., then returns to the trajectory.
  2. Lane change - The vehicle starts out on the trajectory, moves to the right 3.0 m., then returns to the trajectory.
  3. Trajectory following - The vehicle starts out near the trajectory.  The control system drives the vehicle to the trajectory and keeps it on the trajectory. The trajectory is parallel to the row of parking spaces.

The control state is calculated by the UCR navigation software that aids an INS with carrier phase DGPS and magnetometer measurements.  The maneuver is at low speed (~20 mph) due to the small size of the demonstration area.  Thanks to Jay Sullivan and Daniel Empey for the movie.
                                              wmv movie of various maneuvers viewed from outside the vehicle


 

The blue van serves as the base station power source.  The antenna on the yellow tripod is the base station antenna. The IMU and GPS antenna are mounted on the PATH vehicle (Buick Lasabre).
 

Left to Right: Jay Farrell, Yunchun Yang, Han-Shue Tan


 
 

The blue van serves as the base station power source.  The antenna on the yellow tripod is the base station antenna. The IMU and GPS antenna are mounted on the PATH vehicle (Buick Lasabre).


 
 

The blue van serves as the base station power source.  The antenna on the yellow tripod is the base station antenna. The IMU and GPS antenna are mounted on the PATH vehicle (Buick Lasabre). The notebook computer, at which Jay Farrell sits, implements the base station algorithms.  The antenna on the van is a wireless serial port connect to the PATH vehicle for communication of the differential corrections.


 

J. A. Farrell 01/2001