Motion Planning for Omni-Directional Vehicles

Award Information
Agency: Department of Defense
Branch: Army
Contract: W56HZV-04-C-0017
Agency Tracking Number: A022-2275
Amount: $1,329,400.00
Phase: Phase II
Program: SBIR
Awards Year: 2004
Solitcitation Year: 2002
Solitcitation Topic Code: A02-230
Solitcitation Number: 2002.2
Small Business Information
1946 South 1600 West, Young Ward, UT, 84339
Duns: 964299791
Hubzone Owned: N
Woman Owned: N
Socially and Economically Disadvantaged: N
Principal Investigator
 Mel Torrie
 (435) 755-2980
Business Contact
 Paul Lewis
Title: COO
Phone: (435) 755-2980
Research Institution
Small, lightweight and affordable UGVs are crucial to military physical security and homeland defense. The program will develop, demonstrate, test and deliver the Phase I JAUS compliant planning system for agile cluttered environment traversal on 2 low cost prototype UGVs. The first prototype will be based on the Omni-Directional Inspection Vehicle (ODIS) and will emphasize low-cost and ruggedness in moderately structured environments with low vertical clearance, high usability and moderate agility for automotive under-body inspection at checkpoints and in parking areas. The second prototype will be based on the Walking Articulated Tracked Vehicle, or WATV, and will emphasize high mobility in unstructured and destructed environments. The planning system designed and implemented in Phase I will be expanded to include the behaviors necessary to meet the mobility requirements of the two prototype UGVs. The planning system will be tested and evaluated using the prototype UGVs at the TARDEC Robotics Laboratory at TACOM in Warren MI.

* information listed above is at the time of submission.

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