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The DARPA

The DARPA. Grand Challenge. and The OSU team !. TerraMax. A challenge in robotics, transportation and autonomous systems. DARPA intends to conduct a challenge for autonomous ground vehicles: a race between Los Angeles and Las Vegas on March 13, 2004. See:

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The DARPA

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  1. The DARPA Grand Challenge and The OSU team ! TerraMax

  2. A challenge in robotics, transportation and autonomous systems

  3. DARPA intends to conduct a challenge for autonomous ground vehicles: a race between Los Angeles and Las Vegas on March 13, 2004. See: http://www.darpa.mil/grandchallenge/

  4. The DARPA Grand Challenge: • Totally autonomous vehicle • DARPA following (helicopters, etc.) with “big red button” • About 250 miles on and off-road • 10 hrs (maximum) • 1000 or more way-pts with boundaries to be given 2 hrs before race • $1,000,000 prize • A lot of PR!

  5. Barstow to Las Vegas……

  6. Needed: • Sturdy, big competition vehicle with good suspension • Drive-by-wire technology for competition vehicle • Stable instrument platform • GPS, maps and various sensors • Computers • Software • Algorithms

  7. Our Partners and Supporters: • Oshkosh Truck Company • Univ. of Parma (Italy) • TRC • Bendix • Bosch • OSU-Honda Partnership • TRC • Raytheon

  8. Project is underway 106 teams applied! We have been selected to be among the 19 teams to come to the inspection and trials before the race (the QID). 6 more teams were selected after site visits, for a total of 25 to come to the QID at the California Raceway.

  9. Project personnel – OSU team • Project Management and Design: Prof. Umit Ozguner • System Integration: Dr. Keith Redmill • Mapping and Path Planning: Dr. Charles Toth Varuna Dilip Zaher Kassas Yongjie Zhu • High Level Control: Qi Chen Kutay Icoz • Low Level Control: Hai Yu Rong Xu • Sensing and Sensor Fusion: Dr. Zhiyu Xiang Andy Chien Mark Soda Shokouh Shafiei

  10. Checking out vehicles at Oshkosh…..

  11. Working on maps…..

  12. Path planning: Given the way-points, our software is to generate a path for TerraMax to follow.

  13. Camera Radar LADAR Sonar Surround Sensing Surround sensing is accomplished with LADAR’s, radars, cameras and sonars.

  14. The simulator Note the planned path and adjustments due to surround sensing.

  15. Sensors are first being tested on a separate, autonomous vehicle: The Desert Buckeye

  16. TRC off-road track (near Marysville Ohio.) Not quite California/Nevada !

  17. TerraMax arrives!

  18. Break-by-wire system hardware installed on TerraMax

  19. Location of the three front-looking cameras being tested.

  20. Data Acquisition in Italy • A test vehicle has been equipped with color stereo cameras

  21. Testing • Some scenes from Italy

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