PREdicting MObility using STATistics (PreMoStat)
Agency / Branch:
DOD / ARMY
The proposed work addresses the problem of determining whether a given small unmanned ground vehicle (SUGV) can traverse a given terrain, when the state of both the SUGV and the terrain are not known exactly. In Phase I, we developed Monte Carlo-based methods to predict the mobility of the PackBot on steps, and we experimentally validated those methods with experiments with a real robot on real terrain with varying coefficient of friction and step height. In Phase II we will more fully develop the statistical prediction methodology, including extensions, optimization, and continued validation. In Phase II we will also develop a software application integrating the statistical mobility prediction and visualization methods.
Small Business Information at Submission:
Research Institution Information:
GRIFFIN TECHNOLOGIES, INC.
PO Box 276 Wynnewood, PA 19096
Number of Employees:
UNIV. OF TEXAS AT AUSTIN
Office of Sponsored Projects
PO Box 7726
Austin, TX 78713-7726
Courtney D. Frazier
Nonprofit college or university