The TerraMax autonomous vehicle: Field Reports

Authors:
Deborah Braid;Alberto Broggi;Gary Schmiedel
Affiliations:
Rockwell Collins, Cedar Rapids, Iowa 52498;VisLab, University of Parma, 43100 Parma, Italy;Oshkosh Truck Corporation, Oshkosh, Wisconsin 54902
Venue:
Journal of Robotic Systems - Special Issue on the DARPA Grand Challenge, Part 2
Year:
2006

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Abstract

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.