junior 08 self-driving

This article presents the architecture of Junior, a robotic vehicle capable of navi- gating urban environments autonomously. In doing so, the vehicle is able to select its own routes, perceive and interact with other traffic, and execute various urban driving skills including lane changes, U-turns, parking, and merging into moving traffic. The vehicle successfully finished and won second place in the DARPA Ur- ban Challenge, a robot competition organized by the U.S. Government.