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VAMAV: Visual Collision Detection and Avoidance for a Micro Air Vehicle

Award Information

Agency:
Department of Defense 		Branch:
Air Force 		Award ID:
79026 		Program Year/Program:
2007 / SBIR
Agency Tracking Number:
F061-149-1419 		Solicitation Year:
N/A 		Solicitation Topic Code:
N/A 		Solicitation Number:
N/A
Small Business Information
Scientific Systems Company, Inc.
500 West Cummings Park, Suite 3000 Woburn, MA 01801-6562
View profile »
Woman-Owned: No
Minority-Owned: Yes
HUBZone-Owned: No
 
Phase 2
Fiscal Year: 2007
Title: VAMAV: Visual Collision Detection and Avoidance for a Micro Air Vehicle
Agency / Branch: DOD / USAF
Contract: FA8651-07-C-0094
Award Amount: $750,000.00
 

Abstract:

This proposal presents the VAMAV system (Visual Awareness/Avoidance for a Micro Air Vehicle) for monocular visual collision detection and avoidance. Real time collision detection will be implemented using a time-to-collision approach based on area moment estimates of expansion from globally optimal image segmentation. This approach does not require explicit optical flow computations, and avoids noisy flow correspondence and differentiation. Real time collision avoidance will be implemented using rapidly exploring random trees (RRTs), which generate feasible trajectories given known obstacles and popup threats, while taking into account differential constraints arising from vehicle dynamics. The objectives of the phase II investigation are to (i) demonstrate open loop system performance on flight video, (ii) characterize operational envelope in simulation, (iii) demonstrate simulated closed loop system performance, (iv) demonstrate closed loop system performance on the ground station in an urban flight experiment, (v) predict the achievable framerate and power consumption for an ASIC hardware implementation. Scientific Systems Company Inc. (SSCI) is joined in this investigation by team members Sarnoff Corporation and Brigham Young University.

Principal Investigator:

Jeffrey Byrne
Senior Research Engineer
7819335355
jbyrne@ssci.com

Business Contact:

Jay Miselis
Corporate Controller
7819335355
jmiselis@ssci.com
Small Business Information at Submission:

SCIENTIFIC SYSTEMS CO., INC.
500 West Cummings Park - Ste 3000 Woburn, MA 01801

EIN/Tax ID: 043053085
DUNS: N/A
Number of Employees:
Woman-Owned: No
Minority-Owned: No
HUBZone-Owned: No