Team CIMAR: DARPA Grand Challenge 2004

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Team CIMARDARPA Grand Challenge 2004

• Carl D. Crane
• Center for Intelligent Machines and Robotics
• Dept. of Mechanical and Aerospace Engineering
• University of Florida

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Environment
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Environment
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The Team

• University of Florida
• Autonomous Solutions, Inc.
• Eigenpoint Co.

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The Plan

• architecture based on JAUS 3.0
• things to do (in a two month time period)
• arrange finances
• design and implement vehicle platform
• obtain terrain data
• design sensing system
• pose
• obstacles
• terrain
• develop planning software
• route planning
• reactive planning
• develop action components
• path following
• reflexive obstacle avoidance
• develop integration and test plan

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The Plan

• things to do (in a two month time period)
• arrange finances
• 12K, UF components
• 12K, UF travel
• all other funds provided by Autonomous Solutions,
  Inc.
• sponsorships arranged
• Eigenpoint Co.
• Smiths
• Preco
• Gainesville Raceway

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The Plan

• things to do (in a two month time period)
• design and implement vehicle platform

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The Plan

• things to do (in a two month time period)
• obtain terrain data

data survey
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The Plan

• things to do (in a two month time period)
• design sensing system
• pose
• Starfire GPS
• Smiths IMU
• obstacles
• short and long range radar
• 3D ladar
• Videre stereo vision
• terrain
• stationary ladar
• image processing
• implement sensor arbitration

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The Plan

• things to do (in a two month time period)
• develop planning software
• route planning
• identify known trails in waypoint corridor
• plan series of path segments
• reactive planning
• output path segment based on sensor data

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The Plan

• things to do (in a two month time period)
• develop action components
• path following
• demonstrate stable control at speeds up to 30 mph
• reflexive obstacle avoidance

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The Plan

• things to do (in a two month time period)
• develop integration and test plan
• testing in Florida, 21 Jan 20 Feb 04
• integration in Utah, 21 Feb 4 Mar 04
• final integration in Barstow, 5 8 Mar 04

link drag strip movie
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QID
show drawing of QID course link movie of best run
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The Race 13 Mar 04

• 15 teams passed QID
• waypoint file received at 350 am
• opening ceremony at 600 am
• first launch at 630

add movie of race day