October 11, 2004

terramax fsm diagram

The September/October 2004 issue of IEEE Intelligent Systems has a short article on the TerraMax from the 2004 Grand Challenge. “Ohio State University at the 2004 DARPA Grand Challenge: Developing a Completely Autonomous Vehicle,"” by Qi Chen, Ümit Özgüner, and Keith Redmill, describes at a relatively high level the architecture and subsystems of the vehicle [via robots.net.

Following the route, TerraMax covered 1.2 miles within the required corridors and got stuck before a bush. The race log indicated that the communication net-work had malfunctioned and that the envi-ronment-sensing-and-fusion process didn t update the fusion map. So, the map indicated that there was always a bush before the truck, which prevented TerraMax from moving on. However, none of the other vehicles finished the course, either.

Posted by jjwiseman at October 11, 2004 02:19 PM
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