Path Planner for Dynamic Environments

Award Information
Agency: Department of Defense
Branch: Defense Advanced Research Projects Agency
Contract: W31P4Q-09-C-0143
Agency Tracking Number: 08SB2-0572
Amount: $98,725.00
Phase: Phase I
Program: SBIR
Awards Year: 2008
Solicitation Year: 2008
Solicitation Topic Code: SB082-030
Solicitation Number: 2008.2
Small Business Information
PO Box 202, West End of Second Street, Essington, PA, 19029
DUNS: 793042243
HUBZone Owned: N
Woman Owned: N
Socially and Economically Disadvantaged: N
Principal Investigator
 Bob Rellim
 (917) 324-4654
Business Contact
 Greg Piasecki
Title: CFO
Phone: (610) 521-6115
Email: gregorypiasecki@dragonflypictures.c
Research Institution
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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