Team TerraMax and the DARPA grand challenge: a general overview

Author

Ozguner, Umit ; Redmill, Keith A. ; Broggi, Alberto

Author_Institution

Dept. of Electr. & Comput. Eng., Ohio State Univ., Columbus, OH, USA

fYear

2004

fDate

14-17 June 2004

Firstpage

232

Lastpage

237

Abstract

The Defense Advanced Research Projects Agency (DARPA), is an agency of the United States Government, has issued a challenge to developers of off-road autonomous ground vehicles to design and build a vehicle that can complete a lengthy and difficult off road course across desert southwest areas of the United States. A one million dollar US prize is available to the team that completes the 200-250 mile course first and in less than 10 hours. This paper describes the Team TerraMax entry to the March, 2004 race event. Vehicle hardware and drive by wire actuators, internal and external sensing systems, sensor fusion, and high and low level control systems are described.

Keywords

mobile robots; road vehicles; sensor fusion; traffic engineering computing; 200 to 250 mile; DARPA grand challenge; Defense Advanced Research Projects Agency; Team TerraMax; United States Government; desert southwest areas; external sensing systems; high level control systems; internal sensing systems; low level control systems; off road autonomous ground vehicles; sensor fusion; vehicle hardware; wire actuator drive; Actuators; Hardware; Land vehicles; Mobile robots; Remotely operated vehicles; Road vehicles; Sensor fusion; US Government; Vehicle driving; Wire;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Vehicles Symposium, 2004 IEEE

Print_ISBN

0-7803-8310-9

Type

conf

DOI

10.1109/IVS.2004.1336387

Filename

1336387