Team TerraMax and the DARPA grand challenge: a general overview

Ozguner, U. Redmill, K.A. Broggi, A.

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Summary

Paper about 2004 DGC, which is old. Describes details and has good pictures of the TerraMax truck. Describes sensors used.

Methods

Sensors broke into two categories: environment and vehicle state. Environment is obstacles, vehicle state is position and IMU. Terrain classification was applied, then the sensors fed into a "sensor fusion map" where all calculations were made.

Path detection broke into three categories: clustering based on color and texture, boundary detection, and lane/path matching algorithm.

Uses "Personality" in "Behavior" logic system. "Personality" keeps speed under control, accelerating when 10hr deadline approaches.

Keywords

sensor fusion

Rating

5

Bibtex Entry

@article{ debra94,

author = " Ozguner, U. Redmill, K.A. Broggi, A.",

title = "Team TerraMax and the DARPA grand challenge: a general overview",

journal = "IEEE Intelligent Vehicles Symposium",

pages = "232-- 237",

year = "2004",

url = "citeseer.nj.nec.com/99604.html"

}

 

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