Path Planner for Dynamic Environments

Award Information
Agency:
Department of Defense
Branch
Defense Advanced Research Projects Agency
Amount:
$98,725.00
Award Year:
2008
Program:
SBIR
Phase:
Phase I
Contract:
W31P4Q-09-C-0143
Award Id:
86351
Agency Tracking Number:
08SB2-0572
Solicitation Year:
n/a
Solicitation Topic Code:
n/a
Solicitation Number:
n/a
Small Business Information
PO Box 202, West End of Second Street, Essington, PA, 19029
Hubzone Owned:
N
Minority Owned:
N
Woman Owned:
N
Duns:
793042243
Principal Investigator:
Bob Rellim
CTO
(917) 324-4654
bobrellim@DragonflyPictures.com
Business Contact:
Greg Piasecki
CFO
(610) 521-6115
gregorypiasecki@dragonflypictures.com
Research Institution:
n/a
Abstract
Research is proposed to investigate the feasibility of a path planning module that makes use of time-bounded lattices to avoid potential collisions in dynamic environments. The challenge of planning in a dynamic environment is two-fold. First, tracking and predicting the trajectories of dynamic obstacles (e.g., cars, humans, and aircraft) is very noisy. Second, planning with dynamic obstacles requires adding time as a dimension to the planning problem. Paths need to be re-computed frequently because dynamic obstacles are constantly in motion. To deal with the uncertainty inherent in predictions, our research will investigate a novel representation of dynamic obstacles that enables the planner to generate safe paths efficiently yet is general enough for use with wide variety of perception modules and sensor suites. Second, to provide real-time guarantees on the performance of the planner, we propose to utilize a novel data structure for planning - a time-bounded lattice. The innovative time-bounded lattice will be well-suited for use with previously developed re-planning algorithms that have already been successfully employed on a variety of unmanned ground vehicles.

* information listed above is at the time of submission.

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