DARPA Grand Challenge Course-Plotting

Introduction

The software that plots a traversable course based on the map of the terrain will work in a straightforward way. We start by giving it a map of the basic terrain. We then mark off areas that don't look to be traversable based on their elevation changes, apparent trees or rocks, etc. Next, we put in restrictions that come from the BLM as to where they don't want vehicles travelling. Then, DARPA will give us waypoints that have to be met. And finally, the vehicle's software will plot the smoothest, most direct course from waypoint to waypoint, creating its own set of waypoints in between. Let's look at this process step-by-step.

Basic Terrain

For demonstration purposes, let's start with an aerial photo of a random bit of desert between LA and Las Vegas.

Non-Traversable Terrain

Next, we'll mark out in red those areas that appear to be too rough for the vehicle to traverse. This is a process done by the humans, based on our judgement of what the vehicle can handle and where we do and do not want it to go. The yellow line around the red areas shows the buffer zone that will alert the vehicle that it is heading into trouble before it gets there.

BLM Restrictions

BLM will indicate areas that vehicles will not be allowed to traverse. These are shown in the following photo as blue areas with a buffer zone.

Given Waypoints

The waypoints that DARPA supplies will be entered into the vehicle's software. These are shown in the next photo as black squares (note that DARPA will probably supply many more than are shown here).

Vehicle Calculated Course

Finally, the vehicle will plot a high resolution course from waypoint to waypoint, shown as the green dots below.

Modified 2003-03-08
Copyright © 2003 Edward Evers