/High Speed Navigation of Unrehearsed Terrain: Red Team Technology for Grand Challenge 2004

High Speed Navigation of Unrehearsed Terrain: Red Team Technology for Grand Challenge 2004

Christopher Urmson, Joshua Anhalt, Michael Clark, Tugrul Galatali, Juan Pablo Gonzalez, Jay Gowdy, Alexander Gutierrez, Sam Harbaugh, Matthew Johnson-Roberson, Hiroki Kato, Phillip L. Koon, Kevin Peterson, Bryon K. Smith, Spencer Spiker, Erick Tryzelaar and William (Red) L. Whittaker
Tech. Report, CMU-RI-TR-04-37, Robotics Institute, Carnegie Mellon University, June, 2004

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This report presents technologies that have been created and integrated to achieve high speed navigation of unrehearsed terrain. The discussion is organized into three technology areas: mapping & pre-planning, hardware, and navigation software. The mapping & pre-planning component of the Red Team generated a massive, multi-data format map of the ~50,000 sq. mile region surrounding the race corridor. This data was utilized by an automated pre-planning system and a team of human experts to generate a safe route across the Mojave Desert. Sandstorm is the most recognizable component of the Red Team race system. It incorporates a highly capable mobility base and high performance computing and sensing. A critical component of the sensing system is a stabilized gimbal, used to ensure useful data can be collected for the on-board software to digest. The navigation software is capable of driving off-road trails at speeds over 35 mph. This software is described with an explanation of its capabilities and limitations. This report concludes with a summary of the Red Team’s performance at the 2004 Grand Challenge, and outlines several lessons learned during the process of developing the race system.

BibTeX Reference
author = {Christopher Urmson and Joshua Anhalt and Michael Clark and Tugrul Galatali and Juan Pablo Gonzalez and Jay Gowdy and Alexander Gutierrez and Sam Harbaugh and Matthew Johnson-Roberson and Hiroki Kato and Phillip L. Koon and Kevin Peterson and Bryon K. Smith and Spencer Spiker and Erick Tryzelaar and William (Red) L. Whittaker},
title = {High Speed Navigation of Unrehearsed Terrain: Red Team Technology for Grand Challenge 2004},
year = {2004},
month = {June},
institution = {Carnegie Mellon University},
address = {Pittsburgh, PA},
number = {CMU-RI-TR-04-37},
keywords = {mobile robot, navigation, sensors, path planning, field robotics},