Visual Collision Detection and Avoidance for a Micro Air Vehicle

Award Information
Agency: Department of Defense
Branch: Air Force
Contract: FA8651-06-M-0201
Agency Tracking Number: F061-149-1419
Amount: $100,000.00
Phase: Phase I
Program: SBIR
Awards Year: 2006
Solicitation Year: 2006
Solicitation Topic Code: AF06-149
Solicitation Number: 2006.1
Small Business Information
500 West Cummings Park - Ste 3000, Woburn, MA, 01801
DUNS: 859244204
HUBZone Owned: N
Woman Owned: N
Socially and Economically Disadvantaged: Y
Principal Investigator
 Jeffrey Byrne
 Principal Investigator
 (781) 933-5355
Business Contact
 Robert Simpson
Title: Mgr of Fin/Controller
Phone: (781) 933-5355
Research Institution
This proposal presents the VAMAV system (Visual Awareness/Avoidance for a Micro Air Vehicle) for monocular visual collision detection and avoidance. Real time collision detection will be implemented using a time-to-collision approach based on area moment estimates of expansion from globally optimal image segmentation. This approach does not require explicit optical flow computations, and avoids noisy flow correspondence and differentiation. Real time collision avoidance will be implemented using rapidly exploring random trees (RRTs), which generate feasible trajectories given known obstacles and popup threats, while taking into account differential constraints arising from vehicle dynamics. The objective of the phase I investigation is to characterize the performance of the VAMAV system in simulation and on flight data. The phase I will investigate the performance of the VAMAV system using Monte Carlo simulations in the RIPTIDE simulator, resulting in a trade study of performance and MAV system constraints. Proof of concept for collision detection will be demonstrated on flight video data of a UAV in appropriate collision scenarios. Scientific Systems Company Inc. (SSCI) is joined in this investigation by team members Sarnoff Corporation and Brigham Young University.

* Information listed above is at the time of submission. *

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