Motion Planning for Omni-Directional Vehicles

Award Information
Agency:
Department of Defense
Branch
Army
Amount:
$979,400.00
Award Year:
2004
Program:
SBIR
Phase:
Phase II
Contract:
W56HZV-04-C-0017
Award Id:
63162
Agency Tracking Number:
A022-2275
Solicitation Year:
n/a
Solicitation Topic Code:
n/a
Solicitation Number:
n/a
Small Business Information
1946 South 1600 West, Young Ward, UT, 84339
Hubzone Owned:
N
Minority Owned:
N
Woman Owned:
N
Duns:
964299791
Principal Investigator:
Mel Torrie
President
(435) 755-2980
mel@autonomoussolutions.com
Business Contact:
Paul Lewis
COO
(435) 755-2980
Paul@autonomoussolutions.com
Research Institute:
n/a
Abstract
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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