Name
Abstract | ||
|---|---|---|
Team Oshkosh, composed of Oshkosh Corporation, Teledyne Scientific and Imaging Company, VisLab of the University of Parma, Ibeo Automotive Sensor GmbH, and Auburn University, participated in the DARPA Urban Challenge and was one of the 11 teams selected to compete in the final event. Through development, testing, and participation in the official events, we experimented and demonstrated autonomous truck operations in (controlled) urban streets of California, Wisconsin, and Michigan under various climate and traffic conditions. In these experiments TerraMax™, a modified medium tactical vehicle replacement (MTVR) truck by Oshkosh Corporation, negotiated urban roads, intersections, and parking lots and interacted with manned and unmanned traffic while observing traffic rules. We accumulated valuable experience and lessons on autonomous truck operations in urban environments, particularly in the aspects of vehicle control, perception, mission planning, and autonomous behaviors, which will have an impact on the further development of large-footprint autonomous ground vehicles for the military. In this article, we describe the vehicle, the overall system architecture, the sensors and sensor processing, the mission planning system, and the autonomous behavioral controls implemented on TerraMax. We discuss the performance of some notable autonomous behaviors of TerraMax and our experience in implementing these behaviors and present results of the Urban Challenge National Qualification Event tests and the Urban Challenge Final Event. We conclude with a discussion of lessons learned from all of the above experience in working with a large robotic truck. © 2008 Wiley Periodicals, Inc. |
Year | DOI | Venue |
|---|---|---|
2009 | 10.1002/rob.v25:10 | The DARPA Urban Challenge |
Keywords | Field | DocType |
large robotic truck,oshkosh corporation,large-footprint autonomous ground vehicle,notable autonomous behavior,autonomous behavior,team oshkosh urban robot,urban challenge final event,autonomous behavioral control,autonomous truck operation,team oshkosh,darpa urban challenge,system architecture | Truck,Corporation,Simulation,Transport engineering,Autonomous logistics,Ground vehicles,Systems architecture,Engineering,Robot,Traffic conditions,Automotive industry | Conference |
Volume | Issue | Citations |
25 | 10 | 15 |
PageRank | References | Authors |
1.64 | 10 | 8 |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Yi-Liang Chen | 1 | 15 | 1.64 |
| Venkataraman Sundareswaran | 2 | 47 | 6.63 |
| Craig Anderson | 3 | 15 | 1.64 |
| Alberto Broggi | 4 | 1527 | 178.28 |
| Paolo Grisleri, | 5 | 15 | 1.64 |
| Pier Paolo Porta | 6 | 73 | 8.85 |
| Paolo Zani | 7 | 124 | 11.34 |
| John Beck | 8 | 15 | 1.64 |