The TerraMax autonomous vehicle

The TerraMax vehicle is based on Oshkosh Truck’s Medium Tactical Vehicle Replacement truck platform and was one of the five vehicles able to successfully reach the finish line of the 132 miles DARPA Grand Challenge desert race. Due to its size 30 000 pounds, 27 0 long, 8 4 wide, and 8 2 high and the narrow passages, TerraMax had to travel slowly, but its capabilities demonstrated the maturity of the overall system. Rockwell Collins developed, integrated, and installed the intelligent Vehicle Management System, which includes vehicle sensor management, navigation, and vehicle control systems. The University of Parma provided the vehicle’s vision system, while Oshkosh Truck Corp. provided project management, system integration, low level controls hardware, modeling and simulation support, and the vehicle. © 2006 Wiley Periodicals, Inc.

[1]  Julio Rosenblatt,et al.  DAMN: a distributed architecture for mobile navigation , 1997, J. Exp. Theor. Artif. Intell..

[2]  Alberto Broggi,et al.  Obstacle Detection with Stereo Vision for Off-Road Vehicle Navigation , 2005, 2005 IEEE Computer Society Conference on Computer Vision and Pattern Recognition (CVPR'05) - Workshops.

[3]  Massimo Bertozzi,et al.  Stereo inverse perspective mapping: theory and applications , 1998, Image Vis. Comput..

[4]  A. Broggi,et al.  Team TerraMax and the DARPA grand challenge: a general overview , 2004, IEEE Intelligent Vehicles Symposium, 2004.

[5]  Steven M. LaValle,et al.  RRT-connect: An efficient approach to single-query path planning , 2000, Proceedings 2000 ICRA. Millennium Conference. IEEE International Conference on Robotics and Automation. Symposia Proceedings (Cat. No.00CH37065).