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Kat-5 (vehicle)
Encyclopedia
Kat-5 is an autonomous vehicle created by Team Gray, an organization comprising employees from The Gray Insurance Company and students from Tulane University's
School of Engineering, for the 2005 DARPA Grand Challenge
.
Kat-5 is a 2005 Ford Escape
Hybrid modified with the sensors and actuators needed for autonomous operation. It has an INS/GPS (Inertial Navigation System/Global Positioning System) from Oxford Technical Solutions and LIDAR
units from SICK and Riegl. Kat-5 finished the 2005 DARPA Grand Challenge
and placed fourth with a time of 7 hours, 30 minutes, only 37 minutes behind Stanley
, the winner of the competition. Kat-5 is powered by almost 100% pure Java
and runs both the Mac OS X
and Linux
operating systems.
Kat-5 uses oscillating LIDARs and information from the INS/GPS unit to create a picture of the surrounding environment. This information is then used to build a path for the vehicle to follow. Kat-5's primary electrical system, used to run the computers and drive-by-wire system, is powered by the standard electrical system of the vehicle while the 24-volt system, used to power the LIDAR sensors, is powered by six solar panel
s on the roof platform of the vehicle.
During the National Qualification Event of the Grand Challenge, Kat-5 suffered 2 major crashes and one stall (due to a faulty circuit breaker) before finally completing three runs. The last run completed was done flawlessly with Kat-5 avoiding every obstacle and passing through all 50 required gates. The vehicle was given a pole position of 16 going into the Grand Challenge Event in Primm, NV.
On the morning of October 8, 2005, Kat-5 left the starting line without a hitch and began the 132-mile journey through the surrounding desert. Although given the opportunity to stop at sunset and continue the race the following morning, the team chose to allow their vehicle to finish that night since darkness would have no effect on the vehicle's performance.
After crossing the finish line, it was found that Kat-5 had completed the entire race using only 7 gallons of fuel, averaging a little less than 19 miles per gallon. The vehicle averaged 17.5 miles per hour throughout the course of the race. It was later discovered that a small software bug had caused the vehicle to slow to a crawl in the wider segments of the race.
) at a total cost of approximately $650,000. The physical value of the vehicle when it ran on October 8 was estimated to be $150,000.
Tulane University
Tulane University is a private, nonsectarian research university located in New Orleans, Louisiana, United States...
School of Engineering, for the 2005 DARPA Grand Challenge
DARPA Grand Challenge
The DARPA Grand Challenge is a prize competition for driverless vehicles, funded by the Defense Advanced Research Projects Agency, the most prominent research organization of the United States Department of Defense...
.
The vehicle
Ford Escape
The Ford Escape is a compact SUV sold by the automaker Ford Motor Company introduced in 2000 as a 2001 model year and priced below the Ford Explorer. Although technically it's a crossover vehicle, it is marketed by Ford as part of its traditional SUV lineup rather than its separate crossover lineup...
Hybrid modified with the sensors and actuators needed for autonomous operation. It has an INS/GPS (Inertial Navigation System/Global Positioning System) from Oxford Technical Solutions and LIDAR
LIDAR
LIDAR is an optical remote sensing technology that can measure the distance to, or other properties of a target by illuminating the target with light, often using pulses from a laser...
units from SICK and Riegl. Kat-5 finished the 2005 DARPA Grand Challenge
DARPA Grand Challenge
The DARPA Grand Challenge is a prize competition for driverless vehicles, funded by the Defense Advanced Research Projects Agency, the most prominent research organization of the United States Department of Defense...
and placed fourth with a time of 7 hours, 30 minutes, only 37 minutes behind Stanley
Stanley (vehicle)
Stanley is an autonomous vehicle created by Stanford University's Stanford Racing Team in cooperation with the Volkswagen Electronics Research Laboratory...
, the winner of the competition. Kat-5 is powered by almost 100% pure Java
Java (programming language)
Java is a programming language originally developed by James Gosling at Sun Microsystems and released in 1995 as a core component of Sun Microsystems' Java platform. The language derives much of its syntax from C and C++ but has a simpler object model and fewer low-level facilities...
and runs both the Mac OS X
Mac OS X
Mac OS X is a series of Unix-based operating systems and graphical user interfaces developed, marketed, and sold by Apple Inc. Since 2002, has been included with all new Macintosh computer systems...
and Linux
Linux
Linux is a Unix-like computer operating system assembled under the model of free and open source software development and distribution. The defining component of any Linux system is the Linux kernel, an operating system kernel first released October 5, 1991 by Linus Torvalds...
operating systems.
Kat-5 uses oscillating LIDARs and information from the INS/GPS unit to create a picture of the surrounding environment. This information is then used to build a path for the vehicle to follow. Kat-5's primary electrical system, used to run the computers and drive-by-wire system, is powered by the standard electrical system of the vehicle while the 24-volt system, used to power the LIDAR sensors, is powered by six solar panel
Photovoltaic module
A solar panel is a packaged, connected assembly of solar cells, also known as photovoltaic cells...
s on the roof platform of the vehicle.
During the National Qualification Event of the Grand Challenge, Kat-5 suffered 2 major crashes and one stall (due to a faulty circuit breaker) before finally completing three runs. The last run completed was done flawlessly with Kat-5 avoiding every obstacle and passing through all 50 required gates. The vehicle was given a pole position of 16 going into the Grand Challenge Event in Primm, NV.
The team
Team Gray was made up of IT professionals from within the company and students from Tulane University’s Computer Science, Biomedical Engineering, and Mechanical Engineering departments. Eric Gray, President and Director of The Gray Exploration Company and The Gray Oil & Gas Company, was the leader of the team. The primary development team consisted of six people:- Matt Dooner — Junior in Tulane University's Computer Science department
- Keith Goeller — CIO of Gray & Company, Inc. and MBA from Tulane University's A.B. Freeman School of Business
- Powell Kinney — Senior in Tulane University's Biomedical Engineering department
- Jorge Nagel — Master's student in Tulane University's Mechanical Engineering department
- Carl Schneider — Manager of Information Systems for Gray & Company, Inc. and MBA candidate in Tulane University's A.B. Freeman School of Business
- Paul Trepagnier — Software Development Manager for Gray & Company, Inc. and Ph.D. student in Tulane University's Computer Science department
Development
The team developed Kat-5 in a period of six actual months (but three weeks were lost to Hurricane KatrinaHurricane Katrina
Hurricane Katrina of the 2005 Atlantic hurricane season was a powerful Atlantic hurricane. It is the costliest natural disaster, as well as one of the five deadliest hurricanes, in the history of the United States. Among recorded Atlantic hurricanes, it was the sixth strongest overall...
) at a total cost of approximately $650,000. The physical value of the vehicle when it ran on October 8 was estimated to be $150,000.