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SciAutonics‐Auburn Engineering's low‐cost high‐speed ATV for the 2005 DARPA grand challenge
Author(s) -
Travis William,
Daily Robert,
Bevly David M.,
Knoedler Kevin,
Behringer Reinhold,
Hemetsberger Hannes,
Kogler Jürgen,
Kubinger Wilfried,
Alefs Bram
Publication year - 2006
Publication title -
journal of field robotics
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 1.152
H-Index - 96
eISSN - 1556-4967
pISSN - 1556-4959
DOI - 10.1002/rob.20133
Subject(s) - obstacle , engineering , event (particle physics) , terrain , obstacle avoidance , control (management) , architecture , software , motion planning , systems engineering , simulation , aeronautics , computer science , artificial intelligence , robot , mobile robot , operating system , art , physics , quantum mechanics , political science , law , visual arts , ecology , biology
This paper presents a summary of SciAutonics‐Auburn Engineering's efforts in the 2005 DARPA Grand Challenge. The areas discussed in detail include the team makeup and strategy, vehicle choice, software architecture, vehicle control, navigation, path planning, and obstacle detection. In particular, the advantages and complications involved in fielding a low budget all‐terrain vehicle are presented. Emphasis is placed on detailing the methods used for high‐speed control, customized navigation, and a novel stereo vision system. The platform chosen required a highly accurate model and a well‐tuned navigation system in order to meet the demands of the Grand Challenge. Overall, the vehicle completed three out of four runs at the National Qualification Event and traveled 16 miles in the Grand Challenge before a hardware failure disabled operation. The performance in the events is described, along with a success and failure analysis. © 2006 Wiley Periodicals, Inc.