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A Hierarchical Fault Tolerant Control System for UGVs Experiencing Mobility…

Award Information

Agency:
Department of Defense
Branch:
Army
Award ID:
77434
Program Year/Program:
2006 / SBIR
Agency Tracking Number:
A062-203-0398
Solicitation Year:
N/A
Solicitation Topic Code:
N/A
Solicitation Number:
N/A
Small Business Information
Global Technology Connection, Inc.
2839 Paces Ferry Road Suite 1160 Atlanta, GA 30339-5770
View profile »
Woman-Owned: No
Minority-Owned: Yes
HUBZone-Owned: No
 
Phase 1
Fiscal Year: 2006
Title: A Hierarchical Fault Tolerant Control System for UGVs Experiencing Mobility Failures
Agency / Branch: DOD / ARMY
Contract: W56HZV-07-C-0055
Award Amount: $69,998.00
 

Abstract:

Global Technology Connection, Inc. in collaboration with University of Michigan-Dearborn (Vetronics Institute) and our industrial partner Lockheed Martin MFC proposes to develop a hierarchical fault tolerant three tier architecture for UGVs. Mobility parameters are continually updated at different levels including mobility goals, UGV trajectories, and UGV system model. At the top level of the architecture, the UGV mobility health state is assessed through a novel diagnostic and prognostic failure detection, identification, and prediction system, an object-based world model is constructed describing terrain, obstacles, etc., and a goal modification module determines appropriate control actions due to UGV mobility failures. A path planner is then used at the mid-level to generate appropriate UGV mobility trajectories based on the world model and UGV health state. At the low-level, an adaptive controller continually estimates UGV model parameters to provide robust tracking of the generated path. In Phase II, we will develop a working prototype and implement it on an unmanned ground vehicle. Vehicle performance with and without dynamic mobility model along with associated hardware will be delivered. Technology will be transitioned to commercial applications in Phase III to both military (FCS, UGV and civilian applications such as EMS vehicles etc.

Principal Investigator:

Nicholas Propes
Principal Investigator
7708033001
npropes@globaltechinc.com

Business Contact:

Ash Thakker
Director
7708033001
athakker@globaltechinc.com
Small Business Information at Submission:

GLOBAL TECHNOLOGY CONNECTION, INC.
2839 Paces Ferry Rd. Suite 1160 Atlanta, GA 30339

EIN/Tax ID: 582323525
DUNS: N/A
Number of Employees:
Woman-Owned: No
Minority-Owned: No
HUBZone-Owned: No