Mapping support for the OSU DARPA grand challenge vehicle

Author

Toth, Charles K. ; Paska, Eva ; Chen, Qi ; Zhu, Yongjie ; Redmill, Keith ; Ozguner, Umit

fYear

2006

fDate

17-20 Sept. 2006

Firstpage

1580

Lastpage

1585

Abstract

The navigation of the robot vehicles in the GPS way points-defined corridors required the availability of a geographic database as well as a sophisticated sensor system to stay on track and avoid collisions or even to pass another vehicle. The latter sensing capability is practically identical to a state-of-the-art mobile mapping system´s ability, except in the autonomous vehicle case the real-time processing is a necessity. This paper provides an analysis of the overall mapping effort, including the development of a geospatial database, path-planning, interactive route analysis and the real-time mapping effort through the eyes of the OSU DGC group that raced as TerraMax team in 2004 and Desert Buckeye in 2005

Keywords

Global Positioning System; collision avoidance; geographic information systems; mobile robots; navigation; vehicles; GPS; OSU DARPA grand challenge vehicle; geographic database; geospatial database; interactive route analysis; mobile mapping system; path planning; real-time mapping; robot vehicle; sensor system; Databases; Eyes; Global Positioning System; Mobile robots; Navigation; Path planning; Real time systems; Remotely operated vehicles; Robot sensing systems; Sensor systems;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Transportation Systems Conference, 2006. ITSC '06. IEEE

Conference_Location

Toronto, Ont.

Print_ISBN

1-4244-0093-7

Electronic_ISBN

1-4244-0094-5

Type

conf

DOI

10.1109/ITSC.2006.1707449

Filename

1707449