The DARPA

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The DARPA
Grand Challenge
TerraMax

• and
• The OSU team !

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A challenge in robotics, transportation and
autonomous systems
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• 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/

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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!

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Barstow to Las Vegas
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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

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Our Partners and Supporters

• Oshkosh Truck Company
• Univ. of Parma (Italy)
• TRC
• Bendix
• Bosch
• OSU-Honda Partnership
• TRC
• Raytheon

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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.

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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

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Checking out vehicles at Oshkosh..
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Working on maps..
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Path planning
Given the way-points, our software is to generate
a path for TerraMax to follow.
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Surround sensing is accomplished with LADARs,
radars, cameras and sonars.
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The simulator Note the planned path and
adjustments due to surround sensing.
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Sensors are first being tested on a separate,
autonomous vehicle The Desert Buckeye
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TRC off-road track (near Marysville Ohio.)
Not quite California/Nevada !
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TerraMax arrives!
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Break-by-wire system hardware installed on
TerraMax
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Location of the three front-looking cameras
being tested.
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Data Acquisition in Italy

• A test vehicle has been equipped with color
  stereo cameras

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Testing

• Some scenes from Italy