A Hierarchical Fault Tolerant Control System for UGVs Experiencing Mobility Failures

Award Information
Agency: Department of Defense
Branch: Army
Contract: W56HZV-07-C-0055
Agency Tracking Number: A062-203-0398
Amount: $119,974.00
Phase: Phase I
Program: SBIR
Awards Year: 2006
Solicitation Year: 2006
Solicitation Topic Code: A06-203
Solicitation Number: 2006.2
Small Business Information
2839 Paces Ferry Rd. Suite 1160, Atlanta, GA, 30339
DUNS: 961914884
HUBZone Owned: N
Woman Owned: N
Socially and Economically Disadvantaged: Y
Principal Investigator
 Nicholas Propes
 Principal Investigator
 (770) 803-3001
Business Contact
 Ash Thakker
Title: Director
Phone: (770) 803-3001
Email: athakker@globaltechinc.com
Research Institution
Global Technology Connection, Inc. in collaboration with University of Michigan-Dearborn (Vetronics Institute) and our industrial partner Lockheed Martin MFC proposes to develop a hierarchical fault tolerant three tier architecture for UGVs. Mobility parameters are continually updated at different levels including mobility goals, UGV trajectories, and UGV system model. At the top level of the architecture, the UGV mobility health state is assessed through a novel diagnostic and prognostic failure detection, identification, and prediction system, an object-based world model is constructed describing terrain, obstacles, etc., and a goal modification module determines appropriate control actions due to UGV mobility failures. A path planner is then used at the mid-level to generate appropriate UGV mobility trajectories based on the world model and UGV health state. At the low-level, an adaptive controller continually estimates UGV model parameters to provide robust tracking of the generated path. In Phase II, we will develop a working prototype and implement it on an unmanned ground vehicle. Vehicle performance with and without dynamic mobility model along with associated hardware will be delivered. Technology will be transitioned to commercial applications in Phase III to both military (FCS, UGV and civilian applications such as EMS vehicles etc.

* information listed above is at the time of submission.

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