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Semi-Autonomous Control of Unmanned Ground Vehicles

Award Information

Agency:
Department of Defense
Branch:
Army
Award ID:
91985
Program Year/Program:
2009 / SBIR
Agency Tracking Number:
A082-145-0560
Solicitation Year:
N/A
Solicitation Topic Code:
N/A
Solicitation Number:
N/A
Small Business Information
MOBILE INTELLIGENCE CORP.
13620 Merriman Road Livonia, MI -
View profile »
Woman-Owned: No
Minority-Owned: No
HUBZone-Owned: No
 
Phase 1
Fiscal Year: 2009
Title: Semi-Autonomous Control of Unmanned Ground Vehicles
Agency / Branch: DOD / ARMY
Contract: W56HZV-09-C-0132
Award Amount: $120,000.00
 

Abstract:

Teleoperating a ground robot is very difficult. Humans leverage substantial proprioceptive cues to estimate safe travel speeds and compensate for motion jitter in their visual cortex. To address this problem, MIC proposes develop a semi-autonomy system able to lead or follow the operator. The system will support long-distance scene understanding use a single color camera, beyond the range of traditional stereo, to provide highly capable operations in complex terrain. Relying on monocular vision has the advantage of being a passive sensor, which is better suited for tactical missions than LADAR. We propose three complementary research thrusts that begin to interpret the scene. First, categorizing terrain traversability based on appearance and motion allows extrapolating nearby, highly accurate estimates into the far scene. Second, classifying objects based on their shape and texture allows estimating their size based on heuristics in a database, and thus estimating their distance. Finally, scene affordances with respect to navigation will be leveraged by learning mappings of visual shape categories to navigation strategies. The information from these three perceptual processes will be aggregated into a symbolic map, and used by a planner to create routes through the environment.

Principal Investigator:

Douglas C. MacKenzie
President
7343670430
doug@mobile-intelligence.com

Business Contact:

Karen Brehob MacKenzie
Vice President
7343670430
karen@mobile-intelligence.com
Small Business Information at Submission:

MOBILE INTELLIGENCE CORP.
13620 Merriman Road Livonia, MI 48150

EIN/Tax ID: 383147215
DUNS: N/A
Number of Employees:
Woman-Owned: No
Minority-Owned: No
HUBZone-Owned: No